mirror of https://github.com/ArduPilot/ardupilot
271 lines
9.5 KiB
C++
271 lines
9.5 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_RSSI/AP_RSSI.h>
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#include <GCS_MAVLink/GCS.h>
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#include <RC_Channel/RC_Channel.h>
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#include <utility>
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extern const AP_HAL::HAL& hal;
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#ifndef BOARD_RSSI_DEFAULT
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#define BOARD_RSSI_DEFAULT 0
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#endif
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#ifndef BOARD_RSSI_ANA_PIN
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#define BOARD_RSSI_ANA_PIN -1
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#endif
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#ifndef BOARD_RSSI_ANA_PIN_HIGH
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#define BOARD_RSSI_ANA_PIN_HIGH 5.0f
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#endif
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const AP_Param::GroupInfo AP_RSSI::var_info[] = {
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// @Param: TYPE
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// @DisplayName: RSSI Type
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// @Description: Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.
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// @Values: 0:Disabled,1:AnalogPin,2:RCChannelPwmValue,3:ReceiverProtocol,4:PWMInputPin,5:TelemetryRadioRSSI
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// @User: Standard
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AP_GROUPINFO_FLAGS("TYPE", 0, AP_RSSI, rssi_type, BOARD_RSSI_DEFAULT, AP_PARAM_FLAG_ENABLE),
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// @Param: ANA_PIN
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// @DisplayName: Receiver RSSI sensing pin
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// @Description: Pin used to read the RSSI voltage or PWM value
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// @Values: 8:V5 Nano,11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6/Pixhawk2 ADC,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6,103:Pixhawk SBUS
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// @User: Standard
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AP_GROUPINFO("ANA_PIN", 1, AP_RSSI, rssi_analog_pin, BOARD_RSSI_ANA_PIN),
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// @Param: PIN_LOW
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// @DisplayName: RSSI pin's lowest voltage
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// @Description: RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.
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// @Units: V
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// @Increment: 0.01
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// @Range: 0 5.0
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// @User: Standard
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AP_GROUPINFO("PIN_LOW", 2, AP_RSSI, rssi_analog_pin_range_low, 0.0f),
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// @Param: PIN_HIGH
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// @DisplayName: RSSI pin's highest voltage
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// @Description: RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.
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// @Units: V
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// @Increment: 0.01
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// @Range: 0 5.0
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// @User: Standard
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AP_GROUPINFO("PIN_HIGH", 3, AP_RSSI, rssi_analog_pin_range_high, BOARD_RSSI_ANA_PIN_HIGH),
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// @Param: CHANNEL
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// @DisplayName: Receiver RSSI channel number
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// @Description: The channel number where RSSI will be output by the radio receiver (5 and above).
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// @Range: 0 16
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// @User: Standard
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AP_GROUPINFO("CHANNEL", 4, AP_RSSI, rssi_channel, 0),
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// @Param: CHAN_LOW
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// @DisplayName: RSSI PWM low value
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// @Description: PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH
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// @Units: PWM
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// @Range: 0 2000
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// @User: Standard
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AP_GROUPINFO("CHAN_LOW", 5, AP_RSSI, rssi_channel_low_pwm_value, 1000),
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// @Param: CHAN_HIGH
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// @DisplayName: Receiver RSSI PWM high value
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// @Description: PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW
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// @Units: PWM
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// @Range: 0 2000
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// @User: Standard
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AP_GROUPINFO("CHAN_HIGH", 6, AP_RSSI, rssi_channel_high_pwm_value, 2000),
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AP_GROUPEND
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};
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// Public
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// ------
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// constructor
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AP_RSSI::AP_RSSI()
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{
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AP_Param::setup_object_defaults(this, var_info);
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if (_singleton) {
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AP_HAL::panic("Too many RSSI sensors");
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}
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_singleton = this;
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}
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// destructor
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AP_RSSI::~AP_RSSI(void)
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{
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}
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/*
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* Get the AP_RSSI singleton
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*/
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AP_RSSI *AP_RSSI::get_singleton()
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{
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return _singleton;
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}
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// Initialize the rssi object and prepare it for use
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void AP_RSSI::init()
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{
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// a pin for reading the receiver RSSI voltage. The scaling by 0.25
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// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
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rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
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}
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// Read the receiver RSSI value as a float 0.0f - 1.0f.
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// 0.0 represents weakest signal, 1.0 represents maximum signal.
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float AP_RSSI::read_receiver_rssi()
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{
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switch (RssiType(rssi_type.get())) {
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case RssiType::TYPE_DISABLED:
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return 0.0f;
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case RssiType::ANALOG_PIN:
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return read_pin_rssi();
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case RssiType::RC_CHANNEL_VALUE:
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return read_channel_rssi();
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case RssiType::RECEIVER: {
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int16_t rssi = RC_Channels::get_receiver_rssi();
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if (rssi != -1) {
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return rssi * (1/255.0);
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}
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return 0.0f;
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}
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case RssiType::PWM_PIN:
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return read_pwm_pin_rssi();
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case RssiType::TELEMETRY_RADIO_RSSI:
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return read_telemetry_radio_rssi();
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}
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// should never get to here
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return 0.0f;
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}
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// Only valid for RECEIVER type RSSI selections. Returns -1 if protocol does not provide link quality report.
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float AP_RSSI::read_receiver_link_quality()
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{
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if (RssiType(rssi_type.get()) == RssiType::RECEIVER) {
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return RC_Channels::get_receiver_link_quality();
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}
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return -1;
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}
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// Read the receiver RSSI value as an 8-bit integer
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// 0 represents weakest signal, 255 represents maximum signal.
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uint8_t AP_RSSI::read_receiver_rssi_uint8()
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{
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return read_receiver_rssi() * 255;
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}
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// Private
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// -------
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// read the RSSI value from an analog pin - returns float in range 0.0 to 1.0
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float AP_RSSI::read_pin_rssi()
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{
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if (!rssi_analog_source || !rssi_analog_source->set_pin(rssi_analog_pin)) {
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return 0;
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}
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float current_analog_voltage = rssi_analog_source->voltage_average();
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return scale_and_constrain_float_rssi(current_analog_voltage, rssi_analog_pin_range_low, rssi_analog_pin_range_high);
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}
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// read the RSSI value from a PWM value on a RC channel
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float AP_RSSI::read_channel_rssi()
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{
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RC_Channel *c = rc().channel(rssi_channel-1);
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if (c == nullptr) {
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return 0.0f;
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}
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uint16_t rssi_channel_value = c->get_radio_in();
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float channel_rssi = scale_and_constrain_float_rssi(rssi_channel_value, rssi_channel_low_pwm_value, rssi_channel_high_pwm_value);
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return channel_rssi;
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}
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// read the PWM value from a pin
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float AP_RSSI::read_pwm_pin_rssi()
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{
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// check if pin has changed and configure interrupt handlers if required:
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if (!pwm_state.pwm_source.set_pin(rssi_analog_pin, "RSSI")) {
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// disabled (either by configuration or failure to attach interrupt)
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return 0.0f;
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}
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uint16_t pwm_us = pwm_state.pwm_source.get_pwm_us();
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const uint32_t now = AP_HAL::millis();
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if (pwm_us == 0) {
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// no reading; check for timeout:
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if (now - pwm_state.last_reading_ms > 1000) {
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// no reading for a second - something is broken
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pwm_state.rssi_value = 0.0f;
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}
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} else {
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// a new reading - convert pwm value to rssi value
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pwm_state.rssi_value = scale_and_constrain_float_rssi(pwm_us, rssi_channel_low_pwm_value, rssi_channel_high_pwm_value);
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pwm_state.last_reading_ms = now;
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}
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return pwm_state.rssi_value;
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}
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float AP_RSSI::read_telemetry_radio_rssi()
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{
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return GCS_MAVLINK::telemetry_radio_rssi();
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}
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// Scale and constrain a float rssi value to 0.0 to 1.0 range
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float AP_RSSI::scale_and_constrain_float_rssi(float current_rssi_value, float low_rssi_range, float high_rssi_range)
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{
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float rssi_value_range = fabsf(high_rssi_range - low_rssi_range);
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if (is_zero(rssi_value_range)) {
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// User range isn't meaningful, return 0 for RSSI (and avoid divide by zero)
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return 0.0f;
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}
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// Note that user-supplied ranges may be inverted and we accommodate that here.
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// (Some radio receivers put out inverted ranges for RSSI-type values).
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bool range_is_inverted = (high_rssi_range < low_rssi_range);
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// Constrain to the possible range - values outside are clipped to ends
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current_rssi_value = constrain_float(current_rssi_value,
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range_is_inverted ? high_rssi_range : low_rssi_range,
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range_is_inverted ? low_rssi_range : high_rssi_range);
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if (range_is_inverted)
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{
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// Swap values so we can treat them as low->high uniformly in the code that follows
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current_rssi_value = high_rssi_range + fabsf(current_rssi_value - low_rssi_range);
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std::swap(low_rssi_range, high_rssi_range);
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}
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// Scale the value down to a 0.0 - 1.0 range
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float rssi_value_scaled = (current_rssi_value - low_rssi_range) / rssi_value_range;
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// Make absolutely sure the value is clipped to the 0.0 - 1.0 range. This should handle things if the
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// value retrieved falls outside the user-supplied range.
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return constrain_float(rssi_value_scaled, 0.0f, 1.0f);
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}
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AP_RSSI *AP_RSSI::_singleton = nullptr;
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namespace AP {
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AP_RSSI *rssi()
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{
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return AP_RSSI::get_singleton();
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}
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};
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