AP_RangeFinder: added Benewake CAN Lidars

includes support for setting CAN ID and min SNR

libraries/AP_RangeFinder/AP_RangeFinder.cpp

@@ -48,6 +48,7 @@
 #include "AP_RangeFinder_SITL.h"
 #include "AP_RangeFinder_MSP.h"
 #include "AP_RangeFinder_USD1_CAN.h"
+#include "AP_RangeFinder_Benewake_CAN.h"
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Logger/AP_Logger.h>
@@ -63,7 +64,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
 	AP_SUBGROUPINFO(params[0], "1_", 25, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 1_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[0], "1_",  57, RangeFinder, backend_var_info[0]),
 
 #if RANGEFINDER_MAX_INSTANCES > 1
@@ -72,7 +73,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[1], "2_", 27, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 2_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[1], "2_",  58, RangeFinder, backend_var_info[1]),
 #endif
 
@@ -82,7 +83,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[2], "3_", 29, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 3_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[2], "3_",  59, RangeFinder, backend_var_info[2]),
 #endif
 
@@ -92,7 +93,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[3], "4_", 31, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 4_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[3], "4_",  60, RangeFinder, backend_var_info[3]),
 #endif
 
@@ -102,7 +103,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[4], "5_", 33, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 5_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[4], "5_",  34, RangeFinder, backend_var_info[4]),
 #endif
 
@@ -112,7 +113,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[5], "6_", 35, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 6_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[5], "6_",  36, RangeFinder, backend_var_info[5]),
 #endif
 
@@ -122,7 +123,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[6], "7_", 37, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 7_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[6], "7_",  38, RangeFinder, backend_var_info[6]),
 #endif
 
@@ -132,7 +133,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[7], "8_", 39, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 8_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[7], "8_",  40, RangeFinder, backend_var_info[7]),
 #endif
 
@@ -142,7 +143,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[8], "9_", 41, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: 9_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[8], "9_",  42, RangeFinder, backend_var_info[8]),
 #endif
 
@@ -152,7 +153,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
     AP_SUBGROUPINFO(params[9], "A_", 43, RangeFinder, AP_RangeFinder_Params),
 
     // @Group: A_
-    // @Path: AP_RangeFinder_Wasp.cpp
+    // @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Benewake_CAN.cpp
     AP_SUBGROUPVARPTR(drivers[9], "A_",  44, RangeFinder, backend_var_info[9]),
 #endif
     
@@ -574,6 +575,9 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
     case Type::USD1_CAN:
         _add_backend(new AP_RangeFinder_USD1_CAN(state[instance], params[instance]), instance);
         break;
+    case Type::Benewake_CAN:
+        _add_backend(new AP_RangeFinder_Benewake_CAN(state[instance], params[instance]), instance);
+        break;
 #endif
     case Type::NONE:
     default:

libraries/AP_RangeFinder/AP_RangeFinder.h

@@ -88,6 +88,7 @@ public:
         GYUS42v2 = 31,
         MSP = 32,
         USD1_CAN = 33,
+        Benewake_CAN = 34,
         SITL = 100,
     };
 

libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp

@@ -0,0 +1,79 @@
+#include <AP_HAL/AP_HAL.h>
+#include "AP_RangeFinder_Benewake_CAN.h"
+
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+
+const AP_Param::GroupInfo AP_RangeFinder_Benewake_CAN::var_info[] = {
+
+    // @Param: RECV_ID
+    // @DisplayName: CAN receive ID
+    // @Description: The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+    // @Range: 0 65535
+    // @User: Advanced
+    AP_GROUPINFO("RECV_ID", 10, AP_RangeFinder_Benewake_CAN, receive_id, 0),
+
+    // @Param: SNR_MIN
+    // @DisplayName: Minimum signal strength
+    // @Description: Minimum signal strength (SNR) to accept distance
+    // @Range: 0 65535
+    // @User: Advanced
+    AP_GROUPINFO("SNR_MIN", 11, AP_RangeFinder_Benewake_CAN, snr_min, 0),
+
+    AP_GROUPEND
+};
+
+
+/*
+  constructor
+ */
+AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+    CANSensor("Benewake", 3072),
+    AP_RangeFinder_Backend(_state, _params)
+{
+    AP_Param::setup_object_defaults(this, var_info);
+    register_driver(AP_CANManager::Driver_Type_Benewake);
+    state.var_info = var_info;
+}
+
+// update state
+void AP_RangeFinder_Benewake_CAN::update(void)
+{
+    WITH_SEMAPHORE(_sem);
+    const uint32_t now = AP_HAL::millis();
+    if (_distance_count == 0 && now - state.last_reading_ms > 500) {
+        // no new data.
+        set_status(RangeFinder::Status::NoData);
+    } else if (_distance_count != 0) {
+        state.distance_cm = (_distance_sum_cm / _distance_count);
+        state.last_reading_ms = AP_HAL::millis();
+        _distance_sum_cm = 0;
+        _distance_count = 0;
+        update_status();
+    }
+}
+
+// handler for incoming frames. These come in at 100Hz
+void AP_RangeFinder_Benewake_CAN::handle_frame(AP_HAL::CANFrame &frame)
+{
+    WITH_SEMAPHORE(_sem);
+    const uint16_t id = frame.id & AP_HAL::CANFrame::MaskStdID;
+    if (receive_id != 0 && id != uint16_t(receive_id.get())) {
+        // incorrect receive ID
+        return;
+    }
+    if (last_recv_id != -1 && id != last_recv_id) {
+        // changing ID
+        return;
+    }
+    last_recv_id = id;
+    const uint16_t dist_cm = (frame.data[1]<<8) | frame.data[0];
+    const uint16_t snr = (frame.data[3]<<8) | frame.data[2];
+    if (snr_min != 0 && snr < uint16_t(snr_min.get())) {
+        // too low signal strength
+        return;
+    }
+    _distance_sum_cm += dist_cm;
+    _distance_count++;
+}
+
+#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS

libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include "AP_RangeFinder_Backend.h"
+#include <AP_CANManager/AP_CANSensor.h>
+
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+
+class AP_RangeFinder_Benewake_CAN : public CANSensor, public AP_RangeFinder_Backend {
+public:
+    AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+
+    void update() override;
+
+    // handler for incoming frames
+    void handle_frame(AP_HAL::CANFrame &frame) override;
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+protected:
+    virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
+        return MAV_DISTANCE_SENSOR_RADAR;
+    }
+private:
+    float _distance_sum_cm;
+    uint32_t _distance_count;
+    int32_t last_recv_id = -1;
+
+    AP_Int32 snr_min;
+    AP_Int32 receive_id;
+};
+#endif //HAL_MAX_CAN_PROTOCOL_DRIVERS
+

libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp

@@ -6,7 +6,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Rangefinder type
     // @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: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,34:Benewake_CAN,100:SITL
     // @User: Standard
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_RangeFinder_Params, type, 0, AP_PARAM_FLAG_ENABLE),