mirror of https://github.com/ArduPilot/ardupilot
116 lines
3.8 KiB
C++
116 lines
3.8 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_Proximity_config.h"
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#if AP_PROXIMITY_TERARANGERTOWER_ENABLED
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#include "AP_Proximity_TeraRangerTower.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/crc.h>
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#include <ctype.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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// update the state of the sensor
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void AP_Proximity_TeraRangerTower::update(void)
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{
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if (_uart == nullptr) {
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return;
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}
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// process incoming messages
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read_sensor_data();
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// check for timeout and set health status
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if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_TRTOWER_TIMEOUT_MS)) {
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set_status(AP_Proximity::Status::NoData);
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} else {
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set_status(AP_Proximity::Status::Good);
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}
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}
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// get maximum and minimum distances (in meters) of primary sensor
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float AP_Proximity_TeraRangerTower::distance_max() const
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{
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return 4.5f;
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}
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float AP_Proximity_TeraRangerTower::distance_min() const
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{
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return 0.20f;
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}
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// check for replies from sensor, returns true if at least one message was processed
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bool AP_Proximity_TeraRangerTower::read_sensor_data()
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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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uint16_t message_count = 0;
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int16_t nbytes = _uart->available();
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while (nbytes-- > 0) {
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int16_t c = _uart->read();
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if (c==-1) {
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return false;
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}
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if (char(c) == 'T' ) {
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buffer_count = 0;
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}
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buffer[buffer_count++] = c;
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// we should always read 19 bytes THxxxxxxxxxxxxxxxxC
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if (buffer_count >= 19){
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buffer_count = 0;
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// check if message has right CRC
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if (crc_crc8(buffer, 18) == buffer[18]){
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update_sector_data(0, UINT16_VALUE(buffer[2], buffer[3])); // d1
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update_sector_data(45, UINT16_VALUE(buffer[16], buffer[17])); // d8
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update_sector_data(90, UINT16_VALUE(buffer[14], buffer[15])); // d7
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update_sector_data(135, UINT16_VALUE(buffer[12], buffer[13])); // d6
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update_sector_data(180, UINT16_VALUE(buffer[10], buffer[11])); // d5
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update_sector_data(225, UINT16_VALUE(buffer[8], buffer[9])); // d4
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update_sector_data(270, UINT16_VALUE(buffer[6], buffer[7])); // d3
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update_sector_data(315, UINT16_VALUE(buffer[4], buffer[5])); // d2
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message_count++;
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}
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}
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}
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return (message_count > 0);
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}
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// process reply
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void AP_Proximity_TeraRangerTower::update_sector_data(int16_t angle_deg, uint16_t distance_mm)
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{
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// Get location on 3-D boundary based on angle to the object
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const AP_Proximity_Boundary_3D::Face face = frontend.boundary.get_face(angle_deg);
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if ((distance_mm != 0xffff) && !ignore_reading(angle_deg, distance_mm * 0.001f, false)) {
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frontend.boundary.set_face_attributes(face, angle_deg, ((float) distance_mm) / 1000, state.instance);
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// update OA database
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database_push(angle_deg, ((float) distance_mm) / 1000);
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} else {
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frontend.boundary.reset_face(face, state.instance);
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}
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_last_distance_received_ms = AP_HAL::millis();
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}
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#endif // AP_PROXIMITY_TERARANGERTOWER_ENABLED
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