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AP_Proximity: RPLidarA2 gets S1 support

This commit is contained in:
Randy Mackay 2023-05-12 13:25:49 +09:00
parent 1394a430b0
commit e998f93965
2 changed files with 17 additions and 0 deletions
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16
libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
View File

@ -75,6 +75,15 @@ void AP_Proximity_RPLidarA2::update(void)
return; return;
} }
// request device info 3sec after reset
// required for S1 support that sends only 9 bytes after a reset (A1,A2 send 63)
uint32_t now_ms = AP_HAL::millis();
if ((_state == State::RESET) && (now_ms - _last_reset_ms > 3000)) {
send_request_for_device_info();
_state = State::AWAITING_RESPONSE;
_byte_count = 0;
}
get_readings(); get_readings();
// check for timeout and set health status // check for timeout and set health status
@ -99,6 +108,8 @@ float AP_Proximity_RPLidarA2::distance_max() const
return 8.0f; return 8.0f;
case Model::A2: case Model::A2:
return 16.0f; return 16.0f;
case Model::S1:
return 40.0f;
} }
return 0.0f; return 0.0f;
} }
@ -112,6 +123,7 @@ float AP_Proximity_RPLidarA2::distance_min() const
case Model::A1: case Model::A1:
return 0.2f; return 0.2f;
case Model::A2: case Model::A2:
case Model::S1:
return 0.2f; return 0.2f;
} }
return 0.0f; return 0.0f;
@ -322,6 +334,10 @@ void AP_Proximity_RPLidarA2::parse_response_device_info()
model = Model::A2; model = Model::A2;
device_type = "A2"; device_type = "A2";
break; break;
case 0x61:
model = Model::S1;
device_type = "S1";
break;
default: default:
Debug(1, "Unknown device (%u)", _payload.device_info.model); Debug(1, "Unknown device (%u)", _payload.device_info.model);
} }

1
libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
View File

@ -151,6 +151,7 @@ private:
UNKNOWN, UNKNOWN,
A1, A1,
A2, A2,
S1,
} model = Model::UNKNOWN; } model = Model::UNKNOWN;
bool make_first_byte_in_payload(uint8_t desired_byte); bool make_first_byte_in_payload(uint8_t desired_byte);