mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.2 KiB
C++
69 lines
2.2 KiB
C++
/*
|
|
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/>.
|
|
*/
|
|
|
|
/*
|
|
* ArduPilot device driver for Inno-Maker LD06 LiDAR
|
|
*
|
|
* ALL INFORMATION REGARDING PROTOCOL WAS DERIVED FROM LD06 DATASHEET:
|
|
*
|
|
* http://wiki.inno-maker.com/display/HOMEPAGE/LD06?preview=/6949506/6949511/LDROBOT_LD06_Development%20manual_v1.0_en.pdf
|
|
*
|
|
* Author: Adithya Patil, Georgia Institute of Technology
|
|
* Based on the SLAMTEC RPLiDAR code written by Steven Josefs, IAV GmbH
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
#include "AP_Proximity_config.h"
|
|
|
|
#if AP_PROXIMITY_LD06_ENABLED
|
|
|
|
#include "AP_Proximity_Backend_Serial.h"
|
|
|
|
#define MESSAGE_LENGTH_LD06 47
|
|
|
|
// Minimum and maximum distance that the sensor can read in meters
|
|
#define MAX_READ_DISTANCE_LD06 12.0f
|
|
#define MIN_READ_DISTANCE_LD06 0.02f
|
|
|
|
class AP_Proximity_LD06 : public AP_Proximity_Backend_Serial
|
|
{
|
|
public:
|
|
|
|
using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
|
|
|
|
// Update the state of the sensor
|
|
void update(void) override;
|
|
|
|
// Get the max and min distances for the sensor being used
|
|
float distance_max() const override { return MAX_READ_DISTANCE_LD06; }
|
|
float distance_min() const override { return MIN_READ_DISTANCE_LD06; }
|
|
|
|
private:
|
|
|
|
// Get and parse the sensor data
|
|
void parse_response_data();
|
|
void get_readings();
|
|
|
|
// Store and keep track of the bytes being read from the sensor
|
|
uint8_t _response[MESSAGE_LENGTH_LD06];
|
|
uint16_t _byte_count;
|
|
|
|
// Store for error-tracking purposes
|
|
uint32_t _last_distance_received_ms;
|
|
|
|
// Boundary to store the measurements
|
|
AP_Proximity_Temp_Boundary _temp_boundary;
|
|
};
|
|
#endif // AP_PROXIMITY_LD06_ENABLED
|