mirror of https://github.com/ArduPilot/ardupilot
96 lines
3.3 KiB
C++
96 lines
3.3 KiB
C++
#pragma once
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#include "AP_Proximity.h"
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#include "AP_Proximity_Backend.h"
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#define PROXIMITY_SF40C_TIMEOUT_MS 200 // requests timeout after 0.2 seconds
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class AP_Proximity_LightWareSF40C_v09 : public AP_Proximity_Backend
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{
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public:
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// constructor
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AP_Proximity_LightWareSF40C_v09(AP_Proximity &_frontend,
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AP_Proximity::Proximity_State &_state);
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// static detection function
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static bool detect();
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// update state
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void update(void) override;
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const override;
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float distance_min() const override;
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private:
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enum RequestType {
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RequestType_None = 0,
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RequestType_Health,
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RequestType_MotorSpeed,
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RequestType_MotorDirection,
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RequestType_ForwardDirection,
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RequestType_DistanceMeasurement
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};
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// initialise sensor (returns true if sensor is successfully initialised)
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bool initialise();
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void set_motor_speed(bool on_off);
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void set_motor_direction();
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void set_forward_direction();
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// send request for something from sensor
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void request_new_data();
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void send_request_for_health();
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bool send_request_for_distance();
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// check and process replies from sensor
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bool check_for_reply();
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bool process_reply();
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void clear_buffers();
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// reply related variables
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AP_HAL::UARTDriver *uart = nullptr;
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char element_buf[2][10];
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uint8_t element_len[2];
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uint8_t element_num;
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bool ignore_reply; // true if we should ignore the incoming message (because it is just echoing our command)
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bool wait_for_space; // space marks the start of returned data
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// request related variables
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enum RequestType _last_request_type; // last request made to sensor
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uint8_t _last_sector; // last sector requested
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uint32_t _last_request_ms; // system time of last request
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uint32_t _last_distance_received_ms; // system time of last distance measurement received from sensor
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uint8_t _request_count; // counter used to interleave requests for distance with health requests
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// sensor health register
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union {
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struct PACKED {
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uint16_t motor_stopped : 1;
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uint16_t motor_dir : 1; // 0 = clockwise, 1 = counter-clockwise
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uint16_t motor_fault : 1;
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uint16_t torque_control : 1; // 0 = automatic, 1 = manual
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uint16_t laser_fault : 1;
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uint16_t low_battery : 1;
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uint16_t flat_battery : 1;
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uint16_t system_restarting : 1;
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uint16_t no_results_available : 1;
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uint16_t power_saving : 1;
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uint16_t user_flag1 : 1;
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uint16_t user_flag2 : 1;
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uint16_t unused1 : 1;
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uint16_t unused2 : 1;
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uint16_t spare_input : 1;
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uint16_t major_system_abnormal : 1;
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} _flags;
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uint16_t value;
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} _sensor_status;
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// sensor config
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uint8_t _motor_speed; // motor speed as reported by lidar
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uint8_t _motor_direction = 99; // motor direction as reported by lidar
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int16_t _forward_direction = 999; // forward direction as reported by lidar
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};
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