mirror of https://github.com/ArduPilot/ardupilot
145 lines
4.1 KiB
C++
145 lines
4.1 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include "AP_RangeFinder_Benewake_CAN.h"
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#include <AP_HAL/utility/sparse-endian.h>
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#if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
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const AP_Param::GroupInfo AP_RangeFinder_Benewake_CAN::var_info[] = {
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// @Param: RECV_ID
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// @DisplayName: 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_Benewake_CAN, receive_id, 0),
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// @Param: SNR_MIN
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// @DisplayName: Minimum signal strength
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// @Description: 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_Benewake_CAN, snr_min, 0),
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AP_GROUPEND
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};
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Benewake_MultiCAN *AP_RangeFinder_Benewake_CAN::multican;
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/*
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constructor
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*/
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AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
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AP_RangeFinder_Backend(_state, _params)
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{
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if (multican == nullptr) {
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multican = new Benewake_MultiCAN();
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if (multican == nullptr) {
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AP_BoardConfig::allocation_error("Benewake_CAN");
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}
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}
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{
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// add to linked list of drivers
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WITH_SEMAPHORE(multican->sem);
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auto *prev = multican->drivers;
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next = prev;
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multican->drivers = this;
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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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}
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// update state
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void AP_RangeFinder_Benewake_CAN::update(void)
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{
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WITH_SEMAPHORE(_sem);
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const uint32_t now = AP_HAL::millis();
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if (_distance_count == 0 && now - state.last_reading_ms > 500) {
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// no new data.
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set_status(RangeFinder::Status::NoData);
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} else if (_distance_count != 0) {
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state.distance_m = 0.01 * (_distance_sum_cm / _distance_count);
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state.last_reading_ms = AP_HAL::millis();
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_distance_sum_cm = 0;
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_distance_count = 0;
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update_status();
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}
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}
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// handler for incoming frames for H30 radar
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bool AP_RangeFinder_Benewake_CAN::handle_frame_H30(AP_HAL::CANFrame &frame)
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{
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/*
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The H30 produces 3 targets, each as 16 bit unsigned integers in
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cm. Only look at target1 for now
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*/
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const uint16_t target1_cm = be16toh_ptr(&frame.data[0]);
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if (target1_cm == 0) {
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// no target gives 0
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return false;
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}
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//uint16_t target2 = be16toh_ptr(&frame.data[2]);
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//uint16_t target3 = be16toh_ptr(&frame.data[4]);
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_distance_sum_cm += target1_cm;
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_distance_count++;
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return true;
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}
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// handler for incoming frames. These come in at 100Hz
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bool AP_RangeFinder_Benewake_CAN::handle_frame(AP_HAL::CANFrame &frame)
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{
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WITH_SEMAPHORE(_sem);
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if (frame.isExtended()) {
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// H30 radar uses extended frames
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const int32_t id = int32_t(frame.id & AP_HAL::CANFrame::MaskExtID);
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if (receive_id != 0 && id != receive_id.get()) {
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// incorrect receive ID
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return false;
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}
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if (last_recv_id != -1 && id != last_recv_id) {
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// changing ID
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return false;
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}
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last_recv_id = id;
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return handle_frame_H30(frame);
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}
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const uint16_t id = frame.id & AP_HAL::CANFrame::MaskStdID;
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if (receive_id != 0 && id != uint16_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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if (last_recv_id != -1 && id != last_recv_id) {
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// changing ID
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return false;
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}
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last_recv_id = id;
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const uint16_t dist_cm = le16toh_ptr(&frame.data[0]);
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const uint16_t snr = le16toh_ptr(&frame.data[2]);
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if (snr_min != 0 && snr < uint16_t(snr_min.get())) {
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// too low signal strength
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return true;
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}
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_distance_sum_cm += dist_cm;
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_distance_count++;
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return true;
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}
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// handle frames from CANSensor, passing to the drivers
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void Benewake_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
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{
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WITH_SEMAPHORE(sem);
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for (auto *d = drivers; d; d=d->next) {
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if (d->handle_frame(frame)) {
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break;
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}
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}
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}
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#endif // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
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