diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.cpp b/libraries/AP_RangeFinder/AP_RangeFinder.cpp index 16e8f089c1..0da1912c84 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder.cpp @@ -60,6 +60,7 @@ #include "AP_RangeFinder_TOFSenseF_I2C.h" #include "AP_RangeFinder_JRE_Serial.h" #include "AP_RangeFinder_Ainstein_LR_D1.h" +#include "AP_RangeFinder_RDS02UF.h" #include #include @@ -591,6 +592,11 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance) break; #endif +#if AP_RANGEFINDER_RDS02UF_ENABLED + case Type::RDS02UF: + serial_create_fn = AP_RangeFinder_RDS02UF::create; + break; +#endif case Type::NONE: break; } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.h b/libraries/AP_RangeFinder/AP_RangeFinder.h index 79d38ccc57..64124327f6 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder.h @@ -178,6 +178,7 @@ public: Ainstein_LR_D1 = 42, #endif #if AP_RANGEFINDER_SIM_ENABLED + RDS02UF = 43, SIM = 100, #endif }; diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp index 13cd7e6137..83816dd865 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp @@ -10,7 +10,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = { // @Param: TYPE // @DisplayName: Rangefinder type // @Description: Type of connected rangefinder - // @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:DroneCAN,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,34:Benewake_CAN,35:TeraRangerSerial,36:Lua_Scripting,37:NoopLoop_TOFSense,38:NoopLoop_TOFSense_CAN,39:NRA24_CAN,40:NoopLoop_TOFSenseF_I2C,41:JRE_Serial,42:Ainstein_LR_D1,100: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:DroneCAN,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,34:Benewake_CAN,35:TeraRangerSerial,36:Lua_Scripting,37:NoopLoop_TOFSense,38:NoopLoop_TOFSense_CAN,39:NRA24_CAN,40:NoopLoop_TOFSenseF_I2C,41:JRE_Serial,42:Ainstein_LR_D1,43:RDS02UF,100:SITL // @User: Standard AP_GROUPINFO_FLAGS("TYPE", 1, AP_RangeFinder_Params, type, 0, AP_PARAM_FLAG_ENABLE), diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.cpp new file mode 100644 index 0000000000..bdfe34ebb2 --- /dev/null +++ b/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.cpp @@ -0,0 +1,220 @@ +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ + +/** + * RDS02UF Note: + * Sensor range scope 1.5m~20.0m + * Azimuth Coverage ±17°,Elevation Coverage ±3° + * Frame Rate 20Hz + */ +#include "AP_RangeFinder_RDS02UF.h" + +#if AP_RANGEFINDER_RDS02UF_ENABLED + +#include +#include + +#define RDS02_HEAD1 0x55 +#define RDS02_HEAD2 0x55 +#define RDS02_END 0xAA +#define RDS02UF_HEAD_LEN 2 +#define RDS02UF_ERROR_CODE_INDEX 3 +#define RDS02UF_PRODUCTS_FC_INDEX_L 4 +#define RDS02UF_PRODUCTS_FC_INDEX_H 5 +#define RDS02UF_PRE_DATA_LEN 6 +#define RDS02UF_DATA_LEN 10 +#define RDS02_DATA_Y_INDEX_L 13 +#define RDS02_DATA_Y_INDEX_H 14 +#define RDS02_TARGET_FC_INDEX_L 8 +#define RDS02_TARGET_FC_INDEX_H 9 +#define RDS02_TARGET_INFO_FC 0x070C +#define RDS02UF_DIST_MAX_M 20.0 +#define RDS02UF_DIST_MIN_M 1.5 +#define RDS02UF_IGNORE_ID_BYTE 0x0F0F +#define RDS02UF_UAV_PRODUCTS_ID 0x03FF +#define RDS02UF_TIMEOUT_MS 200 +#define RDS02UF_IGNORE_CRC 0xFF +#define RDS02UF_NO_ERR 0x00 + +extern const AP_HAL::HAL& hal; + +// return last value measured by sensor +bool AP_RangeFinder_RDS02UF::get_reading(float &reading_m) +{ + if (uart == nullptr) { + return false; + } + + // read any available data from the lidar + float sum = 0.0f; + uint16_t count = 0; + uint32_t nbytes = MAX(uart->available(), 1024U); + while (nbytes-- > 0) { + int16_t c = uart->read(); + if (c < 0) { + continue; + } + if (decode(c)) { + sum += _distance_m; + count++; + } + } + + if (AP_HAL::millis() - state.last_reading_ms > RDS02UF_TIMEOUT_MS) { + set_status(RangeFinder::Status::NoData); + reading_m = 0.0f; + return false; + } + + // return false if no new readings + if (count == 0) { + return false; + } + + // return average of all measurements + reading_m = sum / count; + update_status(); + return true; +} + + +// add a single character to the buffer and attempt to decode +// returns true if a distance was successfully decoded +bool AP_RangeFinder_RDS02UF::decode(uint8_t c) +{ + uint8_t data = c; + bool ret = false; + switch (decode_state){ + case RDS02UF_PARSE_STATE::STATE0_SYNC_1: + if (data == RDS02_HEAD1) { + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE1_SYNC_2; + } + break; + case RDS02UF_PARSE_STATE::STATE1_SYNC_2: + if (data == RDS02_HEAD2) { + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE2_ADDRESS; + } else { + parser_index = 0; + decode_state = RDS02UF_PARSE_STATE::STATE0_SYNC_1; + } + break; + case RDS02UF_PARSE_STATE::STATE2_ADDRESS: // address + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE3_ERROR_CODE; + break; + case RDS02UF_PARSE_STATE::STATE3_ERROR_CODE: // error_code + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE4_FC_CODE_L; + break; + case RDS02UF_PARSE_STATE::STATE4_FC_CODE_L: // fc_code low + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE5_FC_CODE_H; + break; + case RDS02UF_PARSE_STATE::STATE5_FC_CODE_H: // fc_code high + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE6_LENGTH_L; + break; + case RDS02UF_PARSE_STATE::STATE6_LENGTH_L: // lengh_low + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE7_LENGTH_H; + break; + case RDS02UF_PARSE_STATE::STATE7_LENGTH_H:{ // lengh_high + uint8_t read_len = data << 8 | parser_buffer[parser_index-1]; + // rds02uf data length is always 10 + if (read_len == RDS02UF_DATA_LEN) { + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE8_REAL_DATA; + } else { + parser_index = 0; + decode_state = RDS02UF_PARSE_STATE::STATE0_SYNC_1; + } + break; + } + case RDS02UF_PARSE_STATE::STATE8_REAL_DATA: // real_data + parser_buffer[parser_index++] = data; + if (parser_index == (RDS02UF_HEAD_LEN + RDS02UF_PRE_DATA_LEN + RDS02UF_DATA_LEN) ) { + decode_state = RDS02UF_PARSE_STATE::STATE9_CRC; + } + break; + case RDS02UF_PARSE_STATE::STATE9_CRC:{ // crc + #if RDS02_USE_CRC + const uint8_t crc_data = crc8(&parser_buffer[2], RDS02UF_PRE_DATA_LEN + RDS02UF_DATA_LEN); + if (data == crc_data || data == RDS02UF_IGNORE_CRC) { // 0xff indicates that the current frame does not need to be checked. + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE10_END_1; + } else { + parser_index = 0; + decode_state = RDS02UF_PARSE_STATE::STATE0_SYNC_1; + } + #else + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE10_END_1; + #endif + break; + } + case RDS02UF_PARSE_STATE::STATE10_END_1: + if (data == RDS02_END) { + parser_buffer[parser_index++] = data; + decode_state = RDS02UF_PARSE_STATE::STATE11_END_2; + } else { + parser_index = 0; + decode_state = RDS02UF_PARSE_STATE::STATE0_SYNC_1; + } + break; + case RDS02UF_PARSE_STATE::STATE11_END_2:{ + uint16_t fc_code = (parser_buffer[RDS02UF_PRODUCTS_FC_INDEX_H] << 8 | parser_buffer[RDS02UF_PRODUCTS_FC_INDEX_L]); + uint8_t err_code = parser_buffer[RDS02UF_ERROR_CODE_INDEX]; + if (data == RDS02_END) { + if (fc_code == RDS02UF_UAV_PRODUCTS_ID && err_code == RDS02UF_NO_ERR) {// get targer information + uint16_t read_info_fc = (parser_buffer[RDS02_TARGET_FC_INDEX_H] << 8 | parser_buffer[RDS02_TARGET_FC_INDEX_L]); + if ((read_info_fc & RDS02UF_IGNORE_ID_BYTE) == RDS02_TARGET_INFO_FC){ // read_info_fc = 0x70C + ID * 0x10, ID: 0~0xF + _distance_m = (parser_buffer[RDS02_DATA_Y_INDEX_H] * 256 + parser_buffer[RDS02_DATA_Y_INDEX_L]) / 100.0f; + if (_distance_m > RDS02UF_DIST_MAX_M) { + _distance_m = RDS02UF_DIST_MAX_M; + set_status(RangeFinder::Status::OutOfRangeHigh); + } else if (_distance_m < RDS02UF_DIST_MIN_M) { + _distance_m = RDS02UF_DIST_MIN_M; + set_status(RangeFinder::Status::OutOfRangeLow); + } + ret = true; + state.last_reading_ms = AP_HAL::millis(); + } + } + } + parser_index = 0; + decode_state = RDS02UF_PARSE_STATE::STATE0_SYNC_1; + break; + } + } + + return ret; +} + +uint8_t AP_RangeFinder_RDS02UF::crc8(uint8_t* pbuf, int32_t len) +{ +#if RDS02_USE_CRC + uint8_t crc = 0; + uint8_t* data = pbuf; + while (len--) + crc = crc8_table[crc^*(data++)]; + return crc; +#else + return 0; +#endif +} + +#endif // AP_RANGEFINDER_RDS02UF_ENABLED \ No newline at end of file diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.h b/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.h new file mode 100644 index 0000000000..d9b8b6fc44 --- /dev/null +++ b/libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.h @@ -0,0 +1,131 @@ +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ + +#pragma once + +#include "AP_RangeFinder.h" +#include "AP_RangeFinder_Backend_Serial.h" + +#ifndef AP_RANGEFINDER_RDS02UF_ENABLED +#define AP_RANGEFINDER_RDS02UF_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED +#endif + +#if AP_RANGEFINDER_RDS02UF_ENABLED + +// In order to save MCU resources, CRC check is not used +#define RDS02_USE_CRC 0 +#define RDS02_BUFFER_SIZE 50 + +class AP_RangeFinder_RDS02UF : public AP_RangeFinder_Backend_Serial +{ + +public: + + static AP_RangeFinder_Backend_Serial *create( + RangeFinder::RangeFinder_State &_state, + AP_RangeFinder_Params &_params) { + return new AP_RangeFinder_RDS02UF(_state, _params); + } + +protected: + + MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { + return MAV_DISTANCE_SENSOR_RADAR; + } + + +private: + using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial; + + // Data Format for Benewake Rds02UF + // =============================== + // 21 bytes total per message: + // 1) 0x55 + // 2) 0x55 + // 3) address + // 4) error_code + // 5) FC_CODE_L (low 8bit) + // 6) FC_CODE_H (high 8bit) + // 7) LENGTH_L (low 8bit) + // 8) LENGTH_H (high 8bit) + // 9) REAL_DATA (10Byte) + // 10) CRC8 + // 11) END_1 0xAA + // 12) END_2 0xAA + /// enum for handled messages + enum class RDS02UF_PARSE_STATE { + STATE0_SYNC_1 = 0, + STATE1_SYNC_2, + STATE2_ADDRESS, + STATE3_ERROR_CODE, + STATE4_FC_CODE_L, + STATE5_FC_CODE_H, + STATE6_LENGTH_L, + STATE7_LENGTH_H, + STATE8_REAL_DATA, + STATE9_CRC, + STATE10_END_1, + STATE11_END_2 + }; + + RDS02UF_PARSE_STATE decode_state; + uint8_t parser_index; + uint8_t parser_buffer[RDS02_BUFFER_SIZE]; + float _distance_m; + + // get a distance reading + bool get_reading(float &reading_m) override; + uint16_t read_timeout_ms() const override { return 3000; } + uint8_t crc8(uint8_t *pbuf, int32_t len); + bool decode(uint8_t c); + +#if RDS02_USE_CRC + const uint8_t crc8_table[256] = { + 0x93,0x98,0xE4,0x46,0xEB,0xBA,0x04,0x4C, + 0xFA,0x40,0xB8,0x96,0x0E,0xB2,0xB7,0xC0, + 0x0C,0x32,0x9B,0x80,0xFF,0x30,0x7F,0x9D, + 0xB3,0x81,0x58,0xE7,0xF1,0x19,0x7E,0xB6, + 0xCD,0xF7,0xB4,0xCB,0xBC,0x5C,0xD6,0x09, + 0x20,0x0A,0xE0,0x37,0x51,0x67,0x24,0x95, + 0xE1,0x62,0xF8,0x5E,0x38,0x15,0x54,0x77, + 0x63,0x57,0x6D,0xE9,0x89,0x76,0xBE,0x41, + 0x5D,0xF9,0xB1,0x4D,0x6C,0x53,0x9C,0xA2, + 0x23,0xC4,0x8E,0xC8,0x05,0x42,0x61,0x71, + 0xC5,0x00,0x18,0x6F,0x5F,0xFB,0x7B,0x11, + 0x65,0x2D,0x8C,0xED,0x14,0xAB,0x88,0xD5, + 0xD9,0xC2,0x36,0x34,0x7C,0x5B,0x3C,0xF6, + 0x48,0x0B,0xEE,0x02,0x83,0x79,0x17,0xE6, + 0xA8,0x78,0xF5,0xD3,0x4E,0x50,0x52,0x91, + 0xD8,0xC6,0x22,0xEC,0x3B,0xE5,0x3F,0x86, + 0x06,0xCF,0x2B,0x2F,0x3D,0x59,0x1C,0x87, + 0xEF,0x4F,0x10,0xD2,0x7D,0xDA,0x72,0xA0, + 0x9F,0xDE,0x6B,0x75,0x56,0xBD,0xC7,0xC1, + 0x70,0x1D,0x25,0x92,0xA5,0x31,0xE2,0xD7, + 0xD0,0x9A,0xAF,0xA9,0xC9,0x97,0x08,0x33, + 0x5A,0x99,0xC3,0x16,0x84,0x82,0x8A,0xF3, + 0x4A,0xCE,0xDB,0x29,0x0F,0xAE,0x6E,0xE3, + 0x8B,0x07,0x3A,0x74,0x47,0xB0,0xBB,0xB5, + 0x7A,0xAA,0x2C,0xD4,0x03,0x3E,0x1A,0xA7, + 0x27,0x64,0x06,0xBF,0x55,0x73,0x1E,0xFE, + 0x49,0x01,0x39,0x28,0xF4,0x26,0xDF,0xDD, + 0x44,0x0D,0x21,0xF2,0x85,0xB9,0xEA,0x4B, + 0xDC,0x6A,0xCA,0xAC,0x12,0xFC,0x2E,0x2A, + 0xA3,0xF0,0x66,0xE8,0x60,0x45,0xA1,0x8D, + 0x68,0x35,0xFD,0x8F,0x9E,0x1F,0x13,0xD1, + 0xAD,0x69,0xCC,0xA4,0x94,0x90,0x1B,0x43, + }; +#endif +}; +#endif // AP_RANGEFINDER_RDS02UF_ENABLED