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AP_RangeFinder: rename uLanding to USD1_Serial

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this was rebranded by the vendor Ainstein a long time ago
This commit is contained in:
Andrew Tridgell 2021-10-18 14:47:20 +11:00 committed by Peter Barker
parent c1b9585926
commit 4f2bec72b6
5 changed files with 31 additions and 31 deletions
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8
libraries/AP_RangeFinder/AP_RangeFinder.cpp
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@ -28,7 +28,7 @@
#endif #endif
#include "AP_RangeFinder_MAVLink.h" #include "AP_RangeFinder_MAVLink.h"
#include "AP_RangeFinder_LeddarOne.h" #include "AP_RangeFinder_LeddarOne.h"
#include "AP_RangeFinder_uLanding.h" #include "AP_RangeFinder_USD1_Serial.h"
#include "AP_RangeFinder_TeraRangerI2C.h" #include "AP_RangeFinder_TeraRangerI2C.h"
#include "AP_RangeFinder_VL53L0X.h" #include "AP_RangeFinder_VL53L0X.h"
#include "AP_RangeFinder_VL53L1X.h" #include "AP_RangeFinder_VL53L1X.h"
@ -450,9 +450,9 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
_add_backend(new AP_RangeFinder_LeddarOne(state[instance], params[instance]), instance, serial_instance++); _add_backend(new AP_RangeFinder_LeddarOne(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::ULANDING: case Type::USD1_Serial:
if (AP_RangeFinder_uLanding::detect(serial_instance)) { if (AP_RangeFinder_USD1_Serial::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_uLanding(state[instance], params[instance]), instance, serial_instance++); _add_backend(new AP_RangeFinder_USD1_Serial(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::BEBOP: case Type::BEBOP:

2
libraries/AP_RangeFinder/AP_RangeFinder.h
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@ -65,7 +65,7 @@ public:
LWSER = 8, LWSER = 8,
BEBOP = 9, BEBOP = 9,
MAVLink = 10, MAVLink = 10,
ULANDING= 11, USD1_Serial = 11,
LEDDARONE = 12, LEDDARONE = 12,
MBSER = 13, MBSER = 13,
TRI2C = 14, TRI2C = 14,

2
libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp
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@ -6,7 +6,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
// @Param: TYPE // @Param: TYPE
// @DisplayName: Rangefinder type // @DisplayName: Rangefinder type
// @Description: What type of rangefinder device that is connected // @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:USD1_Serial,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL
// @User: Standard // @User: Standard
AP_GROUPINFO_FLAGS("TYPE", 1, AP_RangeFinder_Params, type, 0, AP_PARAM_FLAG_ENABLE), AP_GROUPINFO_FLAGS("TYPE", 1, AP_RangeFinder_Params, type, 0, AP_PARAM_FLAG_ENABLE),

46
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp → libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.cpp
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@ -14,21 +14,21 @@
*/ */
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include "AP_RangeFinder_uLanding.h" #include "AP_RangeFinder_USD1_Serial.h"
#include <ctype.h> #include <ctype.h>
#define ULANDING_HDR 254 // Header Byte from uLanding (0xFE) #define USD1_HDR 254 // Header Byte from USD1_Serial (0xFE)
#define ULANDING_HDR_V0 72 // Header Byte for beta V0 of uLanding (0x48) #define USD1_HDR_V0 72 // Header Byte for beta V0 of USD1_Serial (0x48)
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
/* /*
detect uLanding Firmware Version detect USD1_Serial Firmware Version
*/ */
bool AP_RangeFinder_uLanding::detect_version(void) bool AP_RangeFinder_USD1_Serial::detect_version(void)
{ {
if (_version_known) { if (_version_known) {
// return true if we've already detected the uLanding version // return true if we've already detected the USD1_Serial version
return true; return true;
} else if (uart == nullptr) { } else if (uart == nullptr) {
return false; return false;
@ -38,18 +38,18 @@ bool AP_RangeFinder_uLanding::detect_version(void)
uint8_t byte1 = 0; uint8_t byte1 = 0;
uint8_t count = 0; uint8_t count = 0;
// read any available data from uLanding // read any available data from USD1_Serial
int16_t nbytes = uart->available(); int16_t nbytes = uart->available();
while (nbytes-- > 0) { while (nbytes-- > 0) {
uint8_t c = uart->read(); uint8_t c = uart->read();
if (((c == ULANDING_HDR_V0) || (c == ULANDING_HDR)) && !hdr_found) { if (((c == USD1_HDR_V0) || (c == USD1_HDR)) && !hdr_found) {
byte1 = c; byte1 = c;
hdr_found = true; hdr_found = true;
count++; count++;
} else if (hdr_found) { } else if (hdr_found) {
if (byte1 == ULANDING_HDR_V0) { if (byte1 == USD1_HDR_V0) {
if (++count < 4) { if (++count < 4) {
/* need to collect 4 bytes to check for recurring /* need to collect 4 bytes to check for recurring
* header byte in the old 3-byte data format * header byte in the old 3-byte data format
@ -57,9 +57,9 @@ bool AP_RangeFinder_uLanding::detect_version(void)
continue; continue;
} else { } else {
if (c == byte1) { if (c == byte1) {
// if header byte is recurring, set uLanding Version // if header byte is recurring, set USD1_Serial Version
_version = 0; _version = 0;
_header = ULANDING_HDR_V0; _header = USD1_HDR_V0;
_version_known = true; _version_known = true;
return true; return true;
} else { } else {
@ -72,12 +72,12 @@ bool AP_RangeFinder_uLanding::detect_version(void)
} }
} }
} else { } else {
if ((c & 0x80) || (c == ULANDING_HDR_V0)) { if ((c & 0x80) || (c == USD1_HDR_V0)) {
/* Though unlikely, it is possible we could find ULANDING_HDR /* Though unlikely, it is possible we could find USD1_HDR
* in a data byte from the old 3-byte format. In this case, * in a data byte from the old 3-byte format. In this case,
* either the next byte is another data byte (which by default * either the next byte is another data byte (which by default
* is of the form 0x1xxxxxxx), or the next byte is the old * is of the form 0x1xxxxxxx), or the next byte is the old
* header byte (ULANDING_HDR_V0). In this case, start the search * header byte (USD1_HDR_V0). In this case, start the search
* again for a header byte. * again for a header byte.
*/ */
count = 0; count = 0;
@ -88,7 +88,7 @@ bool AP_RangeFinder_uLanding::detect_version(void)
* is the version number * is the version number
*/ */
_version = c; _version = c;
_header = ULANDING_HDR; _header = USD1_HDR;
_version_known = true; _version_known = true;
return true; return true;
} }
@ -97,14 +97,14 @@ bool AP_RangeFinder_uLanding::detect_version(void)
} }
/* return false if we've gone through all available data /* return false if we've gone through all available data
* and haven't detected a uLanding firmware version * and haven't detected a USD1_Serial firmware version
*/ */
return false; return false;
} }
// read - return last value measured by sensor // read - return last value measured by sensor
bool AP_RangeFinder_uLanding::get_reading(float &reading_m) bool AP_RangeFinder_USD1_Serial::get_reading(float &reading_m)
{ {
if (uart == nullptr) { if (uart == nullptr) {
return false; return false;
@ -112,11 +112,11 @@ bool AP_RangeFinder_uLanding::get_reading(float &reading_m)
if (!detect_version()) { if (!detect_version()) {
// return false if uLanding version check failed // return false if USD1_Serial version check failed
return false; return false;
} }
// read any available lines from the uLanding // read any available lines from the USD1_Serial
float sum = 0; float sum = 0;
uint16_t count = 0; uint16_t count = 0;
bool hdr_found = false; bool hdr_found = false;
@ -142,7 +142,7 @@ bool AP_RangeFinder_uLanding::get_reading(float &reading_m)
*/ */
continue; continue;
} else { } else {
if (_version == 0 && _header != ULANDING_HDR) { if (_version == 0 && _header != USD1_HDR) {
// parse data for Firmware Version #0 // parse data for Firmware Version #0
sum += (_linebuf[2]&0x7F)*128 + (_linebuf[1]&0x7F); sum += (_linebuf[2]&0x7F)*128 + (_linebuf[1]&0x7F);
count++; count++;
@ -165,10 +165,10 @@ bool AP_RangeFinder_uLanding::get_reading(float &reading_m)
return false; return false;
} }
reading_m = (sum * 0.01f) / count; reading_m = (sum * 0.01) / count;
if (_version == 0 && _header != ULANDING_HDR) { if (_version == 0 && _header != USD1_HDR) {
reading_m *= 2.5f; reading_m *= 2.5;
} }
return true; return true;

4
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h → libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h
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@ -3,7 +3,7 @@
#include "AP_RangeFinder.h" #include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend_Serial.h" #include "AP_RangeFinder_Backend_Serial.h"
class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend_Serial class AP_RangeFinder_USD1_Serial : public AP_RangeFinder_Backend_Serial
{ {
public: public:
@ -25,7 +25,7 @@ protected:
uint16_t tx_bufsize() const override { return 128; } uint16_t tx_bufsize() const override { return 128; }
private: private:
// detect uLanding Firmware Version // detect USD1_Serial Firmware Version
bool detect_version(void); bool detect_version(void);
// get a reading // get a reading