mirror of https://github.com/ArduPilot/ardupilot
323 lines
11 KiB
C++
323 lines
11 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <AP_RSSI/AP_RSSI.h>
|
|
#include <GCS_MAVLink/GCS.h>
|
|
#include <RC_Channel/RC_Channel.h>
|
|
|
|
#include <utility>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#ifndef BOARD_RSSI_DEFAULT
|
|
#define BOARD_RSSI_DEFAULT 0
|
|
#endif
|
|
|
|
#ifndef BOARD_RSSI_ANA_PIN
|
|
#define BOARD_RSSI_ANA_PIN 0
|
|
#endif
|
|
|
|
#ifndef BOARD_RSSI_ANA_PIN_HIGH
|
|
#define BOARD_RSSI_ANA_PIN_HIGH 5.0f
|
|
#endif
|
|
|
|
const AP_Param::GroupInfo AP_RSSI::var_info[] = {
|
|
|
|
// @Param: TYPE
|
|
// @DisplayName: RSSI Type
|
|
// @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.
|
|
// @Values: 0:Disabled,1:AnalogPin,2:RCChannelPwmValue,3:ReceiverProtocol,4:PWMInputPin
|
|
// @User: Standard
|
|
AP_GROUPINFO_FLAGS("TYPE", 0, AP_RSSI, rssi_type, BOARD_RSSI_DEFAULT, AP_PARAM_FLAG_ENABLE),
|
|
|
|
// @Param: ANA_PIN
|
|
// @DisplayName: Receiver RSSI sensing pin
|
|
// @Description: Pin used to read the RSSI voltage or PWM value
|
|
// @Values: 8:V5 Nano,11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6,15:Pixhawk2 ADC,50:PixhawkAUX1,51:PixhawkAUX2,52:PixhawkAUX3,53:PixhawkAUX4,54:PixhawkAUX5,55:PixhawkAUX6,103:Pixhawk SBUS
|
|
// @User: Standard
|
|
AP_GROUPINFO("ANA_PIN", 1, AP_RSSI, rssi_analog_pin, BOARD_RSSI_ANA_PIN),
|
|
|
|
// @Param: PIN_LOW
|
|
// @DisplayName: RSSI pin's lowest voltage
|
|
// @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
|
|
// @Units: V
|
|
// @Increment: 0.01
|
|
// @Range: 0 5.0
|
|
// @User: Standard
|
|
AP_GROUPINFO("PIN_LOW", 2, AP_RSSI, rssi_analog_pin_range_low, 0.0f),
|
|
|
|
// @Param: PIN_HIGH
|
|
// @DisplayName: RSSI pin's highest voltage
|
|
// @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
|
|
// @Units: V
|
|
// @Increment: 0.01
|
|
// @Range: 0 5.0
|
|
// @User: Standard
|
|
AP_GROUPINFO("PIN_HIGH", 3, AP_RSSI, rssi_analog_pin_range_high, BOARD_RSSI_ANA_PIN_HIGH),
|
|
|
|
// @Param: CHANNEL
|
|
// @DisplayName: Receiver RSSI channel number
|
|
// @Description: The channel number where RSSI will be output by the radio receiver (5 and above).
|
|
// @Range: 0 16
|
|
// @User: Standard
|
|
AP_GROUPINFO("CHANNEL", 4, AP_RSSI, rssi_channel, 0),
|
|
|
|
// @Param: CHAN_LOW
|
|
// @DisplayName: RSSI PWM low value
|
|
// @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
|
|
// @Units: PWM
|
|
// @Range: 0 2000
|
|
// @User: Standard
|
|
AP_GROUPINFO("CHAN_LOW", 5, AP_RSSI, rssi_channel_low_pwm_value, 1000),
|
|
|
|
// @Param: CHAN_HIGH
|
|
// @DisplayName: Receiver RSSI PWM high value
|
|
// @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
|
|
// @Units: PWM
|
|
// @Range: 0 2000
|
|
// @User: Standard
|
|
AP_GROUPINFO("CHAN_HIGH", 6, AP_RSSI, rssi_channel_high_pwm_value, 2000),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
// Public
|
|
// ------
|
|
|
|
// constructor
|
|
AP_RSSI::AP_RSSI()
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
if (_singleton) {
|
|
AP_HAL::panic("Too many RSSI sensors");
|
|
}
|
|
_singleton = this;
|
|
}
|
|
|
|
// destructor
|
|
AP_RSSI::~AP_RSSI(void)
|
|
{
|
|
}
|
|
|
|
/*
|
|
* Get the AP_RSSI singleton
|
|
*/
|
|
AP_RSSI *AP_RSSI::get_singleton()
|
|
{
|
|
return _singleton;
|
|
}
|
|
|
|
// Initialize the rssi object and prepare it for use
|
|
void AP_RSSI::init()
|
|
{
|
|
// a pin for reading the receiver RSSI voltage. The scaling by 0.25
|
|
// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
|
|
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
|
|
}
|
|
|
|
// Read the receiver RSSI value as a float 0.0f - 1.0f.
|
|
// 0.0 represents weakest signal, 1.0 represents maximum signal.
|
|
float AP_RSSI::read_receiver_rssi()
|
|
{
|
|
// Default to 0 RSSI
|
|
float receiver_rssi = 0.0f;
|
|
|
|
switch (rssi_type) {
|
|
case RssiType::RSSI_DISABLED:
|
|
receiver_rssi = 0.0f;
|
|
break;
|
|
case RssiType::RSSI_ANALOG_PIN:
|
|
receiver_rssi = read_pin_rssi();
|
|
break;
|
|
case RssiType::RSSI_RC_CHANNEL_VALUE:
|
|
receiver_rssi = read_channel_rssi();
|
|
break;
|
|
case RssiType::RSSI_RECEIVER: {
|
|
int16_t rssi = RC_Channels::get_receiver_rssi();
|
|
if (rssi != -1) {
|
|
receiver_rssi = rssi / 255.0;
|
|
}
|
|
break;
|
|
}
|
|
case RssiType::RSSI_PWM_PIN:
|
|
receiver_rssi = read_pwm_pin_rssi();
|
|
break;
|
|
default :
|
|
receiver_rssi = 0.0f;
|
|
break;
|
|
}
|
|
|
|
return receiver_rssi;
|
|
}
|
|
|
|
// Read the receiver RSSI value as an 8-bit integer
|
|
// 0 represents weakest signal, 255 represents maximum signal.
|
|
uint8_t AP_RSSI::read_receiver_rssi_uint8()
|
|
{
|
|
return read_receiver_rssi() * 255;
|
|
}
|
|
|
|
// Private
|
|
// -------
|
|
|
|
// read the RSSI value from an analog pin - returns float in range 0.0 to 1.0
|
|
float AP_RSSI::read_pin_rssi()
|
|
{
|
|
rssi_analog_source->set_pin(rssi_analog_pin);
|
|
float current_analog_voltage = rssi_analog_source->voltage_average();
|
|
|
|
return scale_and_constrain_float_rssi(current_analog_voltage, rssi_analog_pin_range_low, rssi_analog_pin_range_high);
|
|
}
|
|
|
|
// read the RSSI value from a PWM value on a RC channel
|
|
float AP_RSSI::read_channel_rssi()
|
|
{
|
|
RC_Channel *c = rc().channel(rssi_channel-1);
|
|
if (c == nullptr) {
|
|
return 0.0f;
|
|
}
|
|
uint16_t rssi_channel_value = c->get_radio_in();
|
|
float channel_rssi = scale_and_constrain_float_rssi(rssi_channel_value, rssi_channel_low_pwm_value, rssi_channel_high_pwm_value);
|
|
return channel_rssi;
|
|
}
|
|
|
|
void AP_RSSI::check_pwm_pin_rssi()
|
|
{
|
|
if (rssi_analog_pin == pwm_state.last_rssi_analog_pin) {
|
|
return;
|
|
}
|
|
|
|
// detach last one
|
|
if (pwm_state.last_rssi_analog_pin) {
|
|
if (!hal.gpio->detach_interrupt(pwm_state.last_rssi_analog_pin)) {
|
|
gcs().send_text(MAV_SEVERITY_WARNING,
|
|
"RSSI: Failed to detach from pin %u",
|
|
pwm_state.last_rssi_analog_pin);
|
|
// ignore this failure or the user may be stuck
|
|
}
|
|
}
|
|
|
|
pwm_state.last_rssi_analog_pin = rssi_analog_pin;
|
|
|
|
if (!rssi_analog_pin) {
|
|
// don't need to install handler
|
|
return;
|
|
}
|
|
|
|
// install interrupt handler on rising and falling edge
|
|
hal.gpio->pinMode(rssi_analog_pin, HAL_GPIO_INPUT);
|
|
if (!hal.gpio->attach_interrupt(
|
|
rssi_analog_pin,
|
|
FUNCTOR_BIND_MEMBER(&AP_RSSI::irq_handler,
|
|
void,
|
|
uint8_t,
|
|
bool,
|
|
uint32_t),
|
|
AP_HAL::GPIO::INTERRUPT_BOTH)) {
|
|
// failed to attach interrupt
|
|
gcs().send_text(MAV_SEVERITY_WARNING,
|
|
"RSSI: Failed to attach to pin %u",
|
|
rssi_analog_pin);
|
|
return;
|
|
}
|
|
}
|
|
|
|
// read the PWM value from a pin
|
|
float AP_RSSI::read_pwm_pin_rssi()
|
|
{
|
|
// check if pin has changed and configure interrupt handlers if required:
|
|
check_pwm_pin_rssi();
|
|
|
|
if (!pwm_state.last_rssi_analog_pin) {
|
|
// disabled (either by configuration or failure to attach interrupt)
|
|
return 0.0f;
|
|
}
|
|
|
|
// disable interrupts and grab state
|
|
void *irqstate = hal.scheduler->disable_interrupts_save();
|
|
const uint32_t irq_value_us = pwm_state.irq_value_us;
|
|
pwm_state.irq_value_us = 0;
|
|
hal.scheduler->restore_interrupts(irqstate);
|
|
|
|
const uint32_t now = AP_HAL::millis();
|
|
if (irq_value_us == 0) {
|
|
// no reading; check for timeout:
|
|
if (now - pwm_state.last_reading_ms > 1000) {
|
|
// no reading for a second - something is broken
|
|
pwm_state.rssi_value = 0.0f;
|
|
}
|
|
} else {
|
|
// a new reading - convert pwm value to rssi value
|
|
pwm_state.rssi_value = scale_and_constrain_float_rssi(irq_value_us, rssi_channel_low_pwm_value, rssi_channel_high_pwm_value);
|
|
pwm_state.last_reading_ms = now;
|
|
}
|
|
|
|
return pwm_state.rssi_value;
|
|
}
|
|
|
|
// Scale and constrain a float rssi value to 0.0 to 1.0 range
|
|
float AP_RSSI::scale_and_constrain_float_rssi(float current_rssi_value, float low_rssi_range, float high_rssi_range)
|
|
{
|
|
float rssi_value_range = fabsf(high_rssi_range - low_rssi_range);
|
|
if (is_zero(rssi_value_range)) {
|
|
// User range isn't meaningful, return 0 for RSSI (and avoid divide by zero)
|
|
return 0.0f;
|
|
}
|
|
// Note that user-supplied ranges may be inverted and we accommodate that here.
|
|
// (Some radio receivers put out inverted ranges for RSSI-type values).
|
|
bool range_is_inverted = (high_rssi_range < low_rssi_range);
|
|
// Constrain to the possible range - values outside are clipped to ends
|
|
current_rssi_value = constrain_float(current_rssi_value,
|
|
range_is_inverted ? high_rssi_range : low_rssi_range,
|
|
range_is_inverted ? low_rssi_range : high_rssi_range);
|
|
|
|
if (range_is_inverted)
|
|
{
|
|
// Swap values so we can treat them as low->high uniformly in the code that follows
|
|
current_rssi_value = high_rssi_range + fabsf(current_rssi_value - low_rssi_range);
|
|
std::swap(low_rssi_range, high_rssi_range);
|
|
}
|
|
|
|
// Scale the value down to a 0.0 - 1.0 range
|
|
float rssi_value_scaled = (current_rssi_value - low_rssi_range) / rssi_value_range;
|
|
// Make absolutely sure the value is clipped to the 0.0 - 1.0 range. This should handle things if the
|
|
// value retrieved falls outside the user-supplied range.
|
|
return constrain_float(rssi_value_scaled, 0.0f, 1.0f);
|
|
}
|
|
|
|
// interrupt handler for reading pwm value
|
|
void AP_RSSI::irq_handler(uint8_t pin, bool pin_high, uint32_t timestamp_us)
|
|
{
|
|
if (pin_high) {
|
|
pwm_state.pulse_start_us = timestamp_us;
|
|
} else {
|
|
if (pwm_state.pulse_start_us != 0) {
|
|
pwm_state.irq_value_us = timestamp_us - pwm_state.pulse_start_us;
|
|
pwm_state.pulse_start_us = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
AP_RSSI *AP_RSSI::_singleton = nullptr;
|
|
|
|
namespace AP {
|
|
|
|
AP_RSSI *rssi()
|
|
{
|
|
return AP_RSSI::get_singleton();
|
|
}
|
|
|
|
};
|