mirror of https://github.com/ArduPilot/ardupilot
63 lines
2.6 KiB
C++
63 lines
2.6 KiB
C++
#pragma once
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#include "AP_Proximity.h"
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#include "AP_Proximity_Backend.h"
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#define PROXIMITY_TRTOWER_TIMEOUT_MS 300 // requests timeout after 0.3 seconds
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class AP_Proximity_TeraRangerTowerEvo : public AP_Proximity_Backend {
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public:
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// constructor
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AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
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// static detection function
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static bool detect(AP_SerialManager &serial_manager);
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// update state
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void update(void) override;
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const override;
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float distance_min() const override;
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private:
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// check and process replies from sensor
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void initialise_modes();
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bool read_sensor_data();
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void update_sector_data(int16_t angle_deg, uint16_t distance_cm);
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void set_mode(const uint8_t *c, int length);
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enum InitState {
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InitState_Printout = 0,
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InitState_Sequence,
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InitState_Rate,
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InitState_StreamStart,
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InitState_Finished
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};
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// reply related variables
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AP_HAL::UARTDriver *uart = nullptr;
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uint8_t buffer[21]; // buffer where to store data from serial
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uint8_t buffer_count;
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// request related variables
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uint32_t _last_distance_received_ms; // system time of last distance measurement received from sensor
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uint32_t _last_request_sent_ms; // system time of last command set
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const uint16_t _mode_request_delay = 1000;
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enum InitState _current_init_state = InitState_Printout;
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// tower evo operating modes
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const uint8_t BINARY_MODE[4] = {(uint8_t)0x00, (uint8_t)0x11, (uint8_t)0x02, (uint8_t)0x4C};
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const uint8_t TOWER_MODE[4] = {(uint8_t)0x00, (uint8_t)0x31, (uint8_t)0x03, (uint8_t)0xE5};
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const uint8_t SEQUENCE_MODE[4] = {(uint8_t)0x00, (uint8_t)0x31, (uint8_t)0x02, (uint8_t)0xE2};
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const uint8_t ACTIVATE_STREAM[5] = {(uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x02, (uint8_t)0x01, (uint8_t)0xDF};
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const uint8_t REFRESH_50_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x02, (uint8_t)0xC3};
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const uint8_t REFRESH_100_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x03, (uint8_t)0xC4};
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const uint8_t REFRESH_250_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x04, (uint8_t)0xD1};
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const uint8_t REFRESH_500_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x05, (uint8_t)0xD6};
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const uint8_t REFRESH_600_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x06, (uint8_t)0xDF};
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};
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