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AP_RangeFinder: Add NoopLoop TOFSenseF I2c driver

This commit is contained in:
rishabsingh3003 2023-10-14 19:44:26 -04:00 committed by Peter Barker
parent 1c6b4debe2
commit 9a02967e3d
6 changed files with 214 additions and 2 deletions
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17
libraries/AP_RangeFinder/AP_RangeFinder.cpp
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@ -55,6 +55,7 @@
#include "AP_RangeFinder_NoopLoop.h"
#include "AP_RangeFinder_TOFSenseP_CAN.h"
#include "AP_RangeFinder_NRA24_CAN.h"
#include "AP_RangeFinder_TOFSenseF_I2C.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_Logger/AP_Logger.h>
@ -556,6 +557,22 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
_add_backend(new AP_RangeFinder_NRA24_CAN(state[instance], params[instance]), instance);
#endif
break;
case Type::TOFSenseF_I2C: {
#if AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
uint8_t addr = TOFSENSEP_I2C_DEFAULT_ADDR;
if (params[instance].address != 0) {
addr = params[instance].address;
}
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_TOFSenseF_I2C::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, addr)),
instance)) {
break;
}
}
break;
#endif
}
case Type::NONE:
break;

1
libraries/AP_RangeFinder/AP_RangeFinder.h
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@ -96,6 +96,7 @@ public:
NoopLoop_P = 37,
TOFSenseP_CAN = 38,
NRA24_CAN = 39,
TOFSenseF_I2C = 40,
SIM = 100,
};

2
libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp
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@ -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, 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, 100:SITL
// @User: Standard
AP_GROUPINFO_FLAGS("TYPE", 1, AP_RangeFinder_Params, type, 0, AP_PARAM_FLAG_ENABLE),

141
libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseF_I2C.cpp Normal file
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@ -0,0 +1,141 @@
/*
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 <http://www.gnu.org/licenses/>.
*/
#include "AP_RangeFinder_TOFSenseF_I2C.h"
#if AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
#include <utility>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
extern const AP_HAL::HAL& hal;
AP_RangeFinder_TOFSenseF_I2C::AP_RangeFinder_TOFSenseF_I2C(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_state, _params)
, _dev(std::move(dev))
{
}
// detect if a TOFSenseP rangefinder is connected. We'll detect by
// trying to take a reading on I2C. If we get a result the sensor is
// there.
AP_RangeFinder_Backend *AP_RangeFinder_TOFSenseF_I2C::detect(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
if (!dev) {
return nullptr;
}
AP_RangeFinder_TOFSenseF_I2C *sensor
= new AP_RangeFinder_TOFSenseF_I2C(_state, _params, std::move(dev));
if (!sensor) {
return nullptr;
}
if (!sensor->_init()) {
delete sensor;
return nullptr;
}
return sensor;
}
// initialise sensor
bool AP_RangeFinder_TOFSenseF_I2C::_init(void)
{
_dev->get_semaphore()->take_blocking();
if (!start_reading()) {
_dev->get_semaphore()->give();
return false;
}
// give time for the sensor to process the request
hal.scheduler->delay(100);
uint16_t reading_cm;
if (!get_reading(reading_cm)) {
_dev->get_semaphore()->give();
return false;
}
_dev->get_semaphore()->give();
_dev->register_periodic_callback(100000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_TOFSenseF_I2C::_timer, void));
return true;
}
// start_reading() - ask sensor to make a range reading
bool AP_RangeFinder_TOFSenseF_I2C::start_reading()
{
uint8_t cmd = TOFSENSEP_I2C_COMMAND_TAKE_RANGE_READING;
// send command to take reading
return _dev->transfer(&cmd, sizeof(cmd), nullptr, 0);
}
// read - return last value measured by sensor
bool AP_RangeFinder_TOFSenseF_I2C::get_reading(uint16_t &reading_cm)
{
le32_t val;
// take range reading and read back results
bool ret = _dev->transfer(nullptr, 0, (uint8_t *) &val, sizeof(val));
if (ret) {
// combine results into distance
reading_cm = le32toh(val);
// trigger a new reading
start_reading();
}
return ret;
}
// timer called at 10Hz
void AP_RangeFinder_TOFSenseF_I2C::_timer(void)
{
uint16_t d;
if (get_reading(d)) {
WITH_SEMAPHORE(_sem);
distance = d;
new_distance = true;
state.last_reading_ms = AP_HAL::millis();
}
}
// update the state of the sensor
void AP_RangeFinder_TOFSenseF_I2C::update(void)
{
WITH_SEMAPHORE(_sem);
if (new_distance) {
state.distance_m = distance * 0.01f;
new_distance = false;
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 300) {
// if no updates for 0.3 seconds set no-data
set_status(RangeFinder::Status::NoData);
}
}
#endif // AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED

50
libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseF_I2C.h Normal file
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@ -0,0 +1,50 @@
#pragma once
#include "AP_RangeFinder_config.h"
#if AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
#include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend.h"
#include <AP_HAL/I2CDevice.h>
#define TOFSENSEP_I2C_DEFAULT_ADDR 0x08
#define TOFSENSEP_I2C_COMMAND_TAKE_RANGE_READING 0x24
class AP_RangeFinder_TOFSenseF_I2C : public AP_RangeFinder_Backend
{
public:
// static detection function
static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
// update state
void update(void) override;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_LASER;
}
private:
// constructor
AP_RangeFinder_TOFSenseF_I2C(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
bool _init(void);
void _timer(void);
uint16_t distance;
bool new_distance;
// start a reading
bool start_reading(void);
bool get_reading(uint16_t &reading_cm);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};
#endif // AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED

5
libraries/AP_RangeFinder/AP_RangeFinder_config.h
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@ -121,7 +121,6 @@
#define AP_RANGEFINDER_NOOPLOOP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024
#endif
#ifndef AP_RANGEFINDER_NRA24_CAN_ENABLED
#define AP_RANGEFINDER_NRA24_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif
@ -146,6 +145,10 @@
#define AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif
#ifndef AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
#define AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024
#endif
#ifndef AP_RANGEFINDER_TRI2C_ENABLED
#define AP_RANGEFINDER_TRI2C_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
#endif