mirror of https://github.com/ArduPilot/ardupilot
93 lines
3.1 KiB
C++
93 lines
3.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_BACKEND_CAN_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include "AP_RangeFinder_Backend_CAN.h"
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const AP_Param::GroupInfo AP_RangeFinder_Backend_CAN::var_info[] = {
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// @Param: RECV_ID
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// @DisplayName: RangeFinder CAN receive ID
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// @Description: The receive ID of the CAN frames. A value of zero means all IDs are accepted.
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// @Range: 0 65535
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// @User: Advanced
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AP_GROUPINFO("RECV_ID", 10, AP_RangeFinder_Backend_CAN, receive_id, 0),
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// @Param: SNR_MIN
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// @DisplayName: RangeFinder Minimum signal strength
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// @Description: RangeFinder Minimum signal strength (SNR) to accept distance
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// @Range: 0 65535
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// @User: Advanced
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AP_GROUPINFO("SNR_MIN", 11, AP_RangeFinder_Backend_CAN, snr_min, 0),
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AP_GROUPEND
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};
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// constructor
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AP_RangeFinder_Backend_CAN::AP_RangeFinder_Backend_CAN(
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RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_CAN::Protocol can_type,
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const char *driver_name) :
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AP_RangeFinder_Backend(_state, _params)
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{
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AP_Param::setup_object_defaults(this, var_info);
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state.var_info = var_info;
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multican_rangefinder = NEW_NOTHROW MultiCAN{FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Backend_CAN::handle_frame, bool, AP_HAL::CANFrame &), can_type, driver_name};
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if (multican_rangefinder == nullptr) {
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AP_BoardConfig::allocation_error("Failed to create rangefinder multican");
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}
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}
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// update the state of the sensor
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void AP_RangeFinder_Backend_CAN::update(void)
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{
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if (get_reading(state.distance_m)) {
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// update range_valid state based on distance measured
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state.last_reading_ms = AP_HAL::millis();
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update_status();
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} else if (AP_HAL::millis() - state.last_reading_ms >= read_timeout_ms()) {
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set_status(RangeFinder::Status::NoData);
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}
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}
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// get distance measurement
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bool AP_RangeFinder_Backend_CAN::get_reading(float &reading_m)
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{
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WITH_SEMAPHORE(_sem);
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if (_distance_count != 0) {
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reading_m = _distance_sum / _distance_count;
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_distance_sum = 0;
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_distance_count = 0;
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return true;
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}
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return false;
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}
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// return true if the CAN ID is correct
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bool AP_RangeFinder_Backend_CAN::is_correct_id(uint32_t id) const
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{
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if (receive_id != 0 && id != uint32_t(receive_id.get())) {
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// incorrect receive ID
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return false;
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}
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return true;
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}
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#endif // AP_RANGEFINDER_BACKEND_CAN_ENABLED
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