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AP_Proximity: backup lightware SF40C driver to v09

This commit is contained in:
Randy Mackay 2019-11-13 20:10:53 +09:00
parent 922cd629c0
commit 88460f4406
4 changed files with 24 additions and 24 deletions
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8
libraries/AP_Proximity/AP_Proximity.cpp
View File

@ -14,7 +14,7 @@
*/
#include "AP_Proximity.h"
#include "AP_Proximity_LightWareSF40C.h"
#include "AP_Proximity_LightWareSF40C_v09.h"
#include "AP_Proximity_RPLidarA2.h"
#include "AP_Proximity_TeraRangerTower.h"
#include "AP_Proximity_TeraRangerTowerEvo.h"
@ -280,10 +280,10 @@ void AP_Proximity::detect_instance(uint8_t instance)
switch (get_type(instance)) {
case Type::None:
return;
case Type::SF40C:
if (AP_Proximity_LightWareSF40C::detect()) {
case Type::SF40C_v09:
if (AP_Proximity_LightWareSF40C_v09::detect()) {
state[instance].instance = instance;
drivers[instance] = new AP_Proximity_LightWareSF40C(*this, state[instance]);
drivers[instance] = new AP_Proximity_LightWareSF40C_v09(*this, state[instance]);
return;
}
break;

2
libraries/AP_Proximity/AP_Proximity.h
View File

@ -40,7 +40,7 @@ public:
// Proximity driver types
enum class Type {
None = 0,
SF40C = 1,
SF40C_v09 = 1,
MAV = 2,
TRTOWER = 3,
RangeFinder = 4,

34
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp → libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.cpp
View File

@ -14,7 +14,7 @@
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_Proximity_LightWareSF40C.h"
#include "AP_Proximity_LightWareSF40C_v09.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <ctype.h>
#include <stdio.h>
@ -26,7 +26,7 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we
already know that we should setup the proximity sensor
*/
AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,
AP_Proximity_LightWareSF40C_v09::AP_Proximity_LightWareSF40C_v09(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state) :
AP_Proximity_Backend(_frontend, _state)
{
@ -38,13 +38,13 @@ AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend
}
// detect if a Lightware proximity sensor is connected by looking for a configured serial port
bool AP_Proximity_LightWareSF40C::detect()
bool AP_Proximity_LightWareSF40C_v09::detect()
{
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
}
// update the state of the sensor
void AP_Proximity_LightWareSF40C::update(void)
void AP_Proximity_LightWareSF40C_v09::update(void)
{
if (uart == nullptr) {
return;
@ -70,17 +70,17 @@ void AP_Proximity_LightWareSF40C::update(void)
}
// get maximum and minimum distances (in meters) of primary sensor
float AP_Proximity_LightWareSF40C::distance_max() const
float AP_Proximity_LightWareSF40C_v09::distance_max() const
{
return 100.0f;
}
float AP_Proximity_LightWareSF40C::distance_min() const
float AP_Proximity_LightWareSF40C_v09::distance_min() const
{
return 0.20f;
}
// initialise sensor (returns true if sensor is succesfully initialised)
bool AP_Proximity_LightWareSF40C::initialise()
bool AP_Proximity_LightWareSF40C_v09::initialise()
{
// set motor direction once per second
if (_motor_direction > 1) {
@ -110,7 +110,7 @@ bool AP_Proximity_LightWareSF40C::initialise()
}
// initialise sector angles using user defined ignore areas
void AP_Proximity_LightWareSF40C::init_sectors()
void AP_Proximity_LightWareSF40C_v09::init_sectors()
{
// use defaults if no ignore areas defined
uint8_t ignore_area_count = get_ignore_area_count();
@ -170,7 +170,7 @@ void AP_Proximity_LightWareSF40C::init_sectors()
}
// set speed of rotating motor
void AP_Proximity_LightWareSF40C::set_motor_speed(bool on_off)
void AP_Proximity_LightWareSF40C_v09::set_motor_speed(bool on_off)
{
// exit immediately if no uart
if (uart == nullptr) {
@ -191,7 +191,7 @@ void AP_Proximity_LightWareSF40C::set_motor_speed(bool on_off)
}
// set spin direction of motor
void AP_Proximity_LightWareSF40C::set_motor_direction()
void AP_Proximity_LightWareSF40C_v09::set_motor_direction()
{
// exit immediately if no uart
if (uart == nullptr) {
@ -212,7 +212,7 @@ void AP_Proximity_LightWareSF40C::set_motor_direction()
}
// set forward direction (to allow rotating lidar)
void AP_Proximity_LightWareSF40C::set_forward_direction()
void AP_Proximity_LightWareSF40C_v09::set_forward_direction()
{
// exit immediately if no uart
if (uart == nullptr) {
@ -233,7 +233,7 @@ void AP_Proximity_LightWareSF40C::set_forward_direction()
}
// request new data if required
void AP_Proximity_LightWareSF40C::request_new_data()
void AP_Proximity_LightWareSF40C_v09::request_new_data()
{
if (uart == nullptr) {
return;
@ -261,7 +261,7 @@ void AP_Proximity_LightWareSF40C::request_new_data()
}
// send request for sensor health
void AP_Proximity_LightWareSF40C::send_request_for_health()
void AP_Proximity_LightWareSF40C_v09::send_request_for_health()
{
if (uart == nullptr) {
return;
@ -273,7 +273,7 @@ void AP_Proximity_LightWareSF40C::send_request_for_health()
}
// send request for distance from the next sector
bool AP_Proximity_LightWareSF40C::send_request_for_distance()
bool AP_Proximity_LightWareSF40C_v09::send_request_for_distance()
{
if (uart == nullptr) {
return false;
@ -301,7 +301,7 @@ bool AP_Proximity_LightWareSF40C::send_request_for_distance()
}
// check for replies from sensor, returns true if at least one message was processed
bool AP_Proximity_LightWareSF40C::check_for_reply()
bool AP_Proximity_LightWareSF40C_v09::check_for_reply()
{
if (uart == nullptr) {
return false;
@ -368,7 +368,7 @@ bool AP_Proximity_LightWareSF40C::check_for_reply()
}
// process reply
bool AP_Proximity_LightWareSF40C::process_reply()
bool AP_Proximity_LightWareSF40C_v09::process_reply()
{
if (uart == nullptr) {
return false;
@ -436,7 +436,7 @@ bool AP_Proximity_LightWareSF40C::process_reply()
}
// clear buffers ahead of processing next message
void AP_Proximity_LightWareSF40C::clear_buffers()
void AP_Proximity_LightWareSF40C_v09::clear_buffers()
{
element_len[0] = 0;
element_len[1] = 0;

4
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h → libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.h
View File

@ -5,12 +5,12 @@
#define PROXIMITY_SF40C_TIMEOUT_MS 200 // requests timeout after 0.2 seconds
class AP_Proximity_LightWareSF40C : public AP_Proximity_Backend
class AP_Proximity_LightWareSF40C_v09 : public AP_Proximity_Backend
{
public:
// constructor
AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,
AP_Proximity_LightWareSF40C_v09(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state);
// static detection function