mirror of https://github.com/ArduPilot/ardupilot
130 lines
4.5 KiB
C++
130 lines
4.5 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_HAL/AP_HAL.h>
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#include "AP_Proximity_TeraRangerTower.h"
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#include <AP_SerialManager/AP_SerialManager.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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/*
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The constructor also initialises the proximity sensor. Note that this
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constructor is not called until detect() returns true, so we
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already know that we should setup the proximity sensor
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*/
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AP_Proximity_TeraRangerTower::AP_Proximity_TeraRangerTower(AP_Proximity &_frontend,
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AP_Proximity::Proximity_State &_state,
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AP_SerialManager &serial_manager) :
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AP_Proximity_Backend(_frontend, _state)
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{
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
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if (uart != nullptr) {
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uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0));
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}
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}
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// detect if a TeraRanger Tower proximity sensor is connected by looking for a configured serial port
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bool AP_Proximity_TeraRangerTower::detect(AP_SerialManager &serial_manager)
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{
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AP_HAL::UARTDriver *uart = nullptr;
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
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return uart != nullptr;
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}
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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::Proximity_NoData);
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} else {
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set_status(AP_Proximity::Proximity_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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char c = uart->read();
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if (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_cm)
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{
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uint8_t sector;
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if (convert_angle_to_sector(angle_deg, sector)) {
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_angle[sector] = angle_deg;
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_distance[sector] = ((float) distance_cm) / 1000;
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_distance_valid[sector] = distance_cm != 0xffff;
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_last_distance_received_ms = AP_HAL::millis();
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// update boundary used for avoidance
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update_boundary_for_sector(sector, true);
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}
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}
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