mirror of https://github.com/ArduPilot/ardupilot
134 lines
4.2 KiB
C++
134 lines
4.2 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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* ArduPilot device driver for SLAMTEC RPLIDAR A2 (16m range version)
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*
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* ALL INFORMATION REGARDING PROTOCOL WAS DERIVED FROM RPLIDAR DATASHEET:
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*
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* https://www.slamtec.com/en/Lidar
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* http://bucket.download.slamtec.com/63ac3f0d8c859d3a10e51c6b3285fcce25a47357/LR001_SLAMTEC_rplidar_protocol_v1.0_en.pdf
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*
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* Author: Steven Josefs, IAV GmbH
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* Based on the LightWare SF40C ArduPilot device driver from Randy Mackay
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*
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*/
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#pragma once
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#include "AP_Proximity.h"
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#include "AP_Proximity_Backend.h"
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#include <AP_HAL/AP_HAL.h> ///< for UARTDriver
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class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend
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{
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public:
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// constructor
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AP_Proximity_RPLidarA2(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
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// static detection function
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static bool detect(AP_SerialManager &serial_manager);
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// update state
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void update(void);
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const;
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float distance_min() const;
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private:
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enum rp_state {
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rp_unknown = 0,
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rp_resetted,
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rp_responding,
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rp_measurements,
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rp_health
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};
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enum ResponseType {
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ResponseType_Descriptor = 0,
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ResponseType_SCAN,
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ResponseType_EXPRESS,
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ResponseType_Health
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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 init_sectors();
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void set_scan_mode();
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// send request for something from sensor
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void send_request_for_health();
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void parse_response_data();
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void parse_response_descriptor();
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void get_readings();
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void reset_rplidar();
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// reply related variables
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AP_HAL::UARTDriver *_uart;
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uint8_t _descriptor[7];
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char _rp_systeminfo[63];
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bool _descriptor_data;
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bool _information_data;
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bool _payload_data;
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bool _resetted;
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bool _initialised;
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bool _skip;
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bool _rp_reset;
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bool _sector_initialised;
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uint8_t _element_len[2];
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uint8_t _element_num;
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uint8_t _payload_length;
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uint8_t _cnt;
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uint8_t _sync_error ;
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uint16_t _byte_count;
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// request related variables
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enum ResponseType _response_type; ///< response from the lidar
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enum rp_state _rp_state;
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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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uint32_t _last_reset_ms;
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// sector related variables
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float _angle_deg_last;
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float _distance_m_last;
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struct PACKED _sensor_scan {
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uint8_t startbit : 1; ///< on the first revolution 1 else 0
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uint8_t not_startbit : 1; ///< complementary to startbit
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uint8_t quality : 6; ///< Related the reflected laser pulse strength
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uint8_t checkbit : 1; ///< always set to 1
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uint16_t angle_q6 : 15; ///< Actual heading = angle_q6/64.0 Degree
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uint16_t distance_q2 : 16; ///< Actual Distance = distance_q2/4.0 mm
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};
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struct PACKED _sensor_health {
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uint8_t status; ///< status definition: 0 good, 1 warning, 2 error
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uint16_t error_code; ///< the related error code
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};
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union PACKED {
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DEFINE_BYTE_ARRAY_METHODS
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_sensor_scan sensor_scan;
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_sensor_health sensor_health;
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} payload;
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};
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