mirror of https://github.com/ArduPilot/ardupilot
127 lines
4.1 KiB
C++
127 lines
4.1 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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/**
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* RDS02UF Note:
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* Sensor range scope 1.5m~20.0m
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* Azimuth Coverage ±17°,Elevation Coverage ±3°
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* Frame Rate 20Hz
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*/
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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_RDS02UF_ENABLED
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#include "AP_RangeFinder_RDS02UF.h"
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#include <AP_HAL/AP_HAL.h>
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#define RDS02_HEAD 0x55
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#define RDS02_END 0xAA
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#define RDS02UF_PRE_DATA_LEN 6
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#define RDS02_TARGET_INFO_FC 0x070C
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#define RDS02UF_IGNORE_ID_BYTE 0x0F0F
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#define RDS02UF_UAV_PRODUCTS_ID 0x03FF
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#define RDS02UF_IGNORE_CRC 0xFF
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#define RDS02UF_NO_ERR 0x00
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bool AP_RangeFinder_RDS02UF::get_reading(float &distance_m)
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{
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if (uart == nullptr) {
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return false;
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}
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const uint32_t nbytes = uart->read(&u.parse_buffer[body_length],
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ARRAY_SIZE(u.parse_buffer)-body_length);
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if (nbytes == 0) {
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return false;
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}
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body_length += nbytes;
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move_header_in_buffer(0);
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// header byte 1 is correct.
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if (body_length < ARRAY_SIZE(u.parse_buffer)) {
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// need a full buffer to have a valid message...
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return false;
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}
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if (u.packet.headermagic2 != RDS02_HEAD) {
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move_header_in_buffer(1);
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return false;
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}
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const uint16_t read_len = u.packet.length_h << 8 | u.packet.length_l;
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if (read_len != RDS02UF_DATA_LEN) {
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// we can only accept the fixed length message
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move_header_in_buffer(1);
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return false;
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}
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// check for the footer signatures:
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if (u.packet.footermagic1 != RDS02_END) {
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move_header_in_buffer(1);
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return false;
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}
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if (u.packet.footermagic2 != RDS02_END) {
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move_header_in_buffer(1);
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return false;
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}
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// calculate checksum
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const uint8_t checksum = crc8_rds02uf(&u.parse_buffer[2], RDS02UF_PRE_DATA_LEN + RDS02UF_DATA_LEN);
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if (u.packet.checksum != checksum && u.packet.checksum != RDS02UF_IGNORE_CRC) {
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move_header_in_buffer(1);
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return false;
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}
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const uint16_t fc_code = (u.packet.fc_high << 8 | u.packet.fc_low);
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if (fc_code == RDS02UF_UAV_PRODUCTS_ID && u.packet.error_code == RDS02UF_NO_ERR) {
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// get target information
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const uint16_t read_info_fc = (u.packet.data[1] << 8 | u.packet.data[0]);
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if ((read_info_fc & RDS02UF_IGNORE_ID_BYTE) == RDS02_TARGET_INFO_FC) {
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// read_info_fc = 0x70C + ID * 0x10, ID: 0~0xF
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distance_m = (u.packet.data[6] * 256 + u.packet.data[5]) * 0.01f;
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state.last_reading_ms = AP_HAL::millis();
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}
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}
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// consume this message:
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move_header_in_buffer(ARRAY_SIZE(u.parse_buffer));
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return true;
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}
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// find a RDS02UF message in the buffer, starting at
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// initial_offset. If found, that message (or partial message) will
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// be moved to the start of the buffer.
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void AP_RangeFinder_RDS02UF::move_header_in_buffer(uint8_t initial_offset)
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{
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uint8_t* header_ptr = (uint8_t*)memchr(&u.parse_buffer[initial_offset], RDS02_HEAD, body_length - initial_offset);
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if (header_ptr != nullptr) {
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size_t header_offset = header_ptr - &u.parse_buffer[0];
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if (header_offset != 0) {
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// header was found, but not at index 0; move it back to start of array
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memmove(u.parse_buffer, header_ptr, body_length - header_offset);
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body_length -= header_offset;
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}
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} else {
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// no header found; reset buffer
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body_length = 0;
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}
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}
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#endif // AP_RANGEFINDER_RDS02UF_ENABLED
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