mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.6 KiB
C++
97 lines
2.6 KiB
C++
#include "AP_RangeFinder_USD1_CAN.h"
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#if AP_RANGEFINDER_USD1_CAN_ENABLED
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#include <AP_HAL/AP_HAL.h>
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const AP_Param::GroupInfo AP_RangeFinder_USD1_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", 12, AP_RangeFinder_USD1_CAN, receive_id, 0),
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AP_GROUPEND
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};
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USD1_MultiCAN *AP_RangeFinder_USD1_CAN::multican;
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/*
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constructor
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*/
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AP_RangeFinder_USD1_CAN::AP_RangeFinder_USD1_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 USD1_MultiCAN();
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if (multican == nullptr) {
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AP_BoardConfig::allocation_error("USD1_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_USD1_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 = _distance_sum / _distance_count;
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state.last_reading_ms = AP_HAL::millis();
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_distance_sum = 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. These come in at 100Hz
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bool AP_RangeFinder_USD1_CAN::handle_frame(AP_HAL::CANFrame &frame)
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{
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WITH_SEMAPHORE(_sem);
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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 = (frame.data[0]<<8) | frame.data[1];
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_distance_sum += dist_cm * 0.01;
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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 USD1_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_USD1_CAN_ENABLED
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