mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.8 KiB
C++
90 lines
2.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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* AP_RangeFinder_MaxsonarI2CXL.cpp - Arduino Library for MaxBotix I2C XL sonar
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* Code by Randy Mackay. DIYDrones.com
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*
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* datasheet: http://www.maxbotix.com/documents/I2CXL-MaxSonar-EZ_Datasheet.pdf
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*
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* Sensor should be connected to the I2C port
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*
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* Variables:
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* bool healthy : indicates whether last communication with sensor was successful
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*
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* Methods:
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* take_reading(): ask the sonar to take a new distance measurement
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* read() : read last distance measured (in cm)
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*
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*/
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// AVR LibC Includes
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#include "AP_RangeFinder_MaxsonarI2CXL.h"
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#include <AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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// Constructor //////////////////////////////////////////////////////////////
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AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL( FilterInt16 *filter ) :
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RangeFinder(NULL, filter),
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healthy(true),
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_addr(AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)
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{
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min_distance = AP_RANGE_FINDER_MAXSONARI2CXL_MIN_DISTANCE;
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max_distance = AP_RANGE_FINDER_MAXSONARI2CXL_MAX_DISTANCE;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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// take_reading - ask sensor to make a range reading
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bool AP_RangeFinder_MaxsonarI2CXL::take_reading()
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{
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// take range reading and read back results
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uint8_t tosend[1] =
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{ AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING };
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if (hal.i2c->write(_addr, 1, tosend) != 0) {
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healthy = false;
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return false;
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}else{
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healthy = true;
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return true;
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}
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}
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// read - return last value measured by sensor
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int AP_RangeFinder_MaxsonarI2CXL::read()
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{
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uint8_t buff[2];
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int16_t ret_value = 0;
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// take range reading and read back results
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if (hal.i2c->read(_addr, 2, buff) != 0) {
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healthy = false;
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}else{
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// combine results into distance
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ret_value = buff[0] << 8 | buff[1];
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healthy = true;
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}
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// ensure distance is within min and max
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ret_value = constrain_float(ret_value, min_distance, max_distance);
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ret_value = _mode_filter->apply(ret_value);
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return ret_value;
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}
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