mirror of https://github.com/ArduPilot/ardupilot
172 lines
6.5 KiB
C++
172 lines
6.5 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_RangeFinder_Benewake.h"
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <ctype.h>
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#include <AP_HAL/utility/sparse-endian.h>
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extern const AP_HAL::HAL& hal;
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#define BENEWAKE_FRAME_HEADER 0x59
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#define BENEWAKE_FRAME_LENGTH 9
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#define BENEWAKE_DIST_MAX_CM 32768
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#define BENEWAKE_OUT_OF_RANGE_ADD_CM 100
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// format of serial packets received from benewake lidar
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//
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// Data Bit Definition Description
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// ------------------------------------------------
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// byte 0 Frame header 0x59
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// byte 1 Frame header 0x59
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// byte 2 DIST_L Distance (in cm) low 8 bits
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// byte 3 DIST_H Distance (in cm) high 8 bits
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// byte 4 STRENGTH_L Strength low 8 bits
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// byte 5 STRENGTH_H Strength high 8 bits
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// byte 6 (TF02) SIG Reliability in 8 levels, 7 & 8 means reliable
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// byte 6 (TFmini) Distance Mode 0x02 for short distance (mm), 0x07 for long distance (cm)
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// byte 7 (TF02 only) TIME Exposure time in two levels 0x03 and 0x06
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// byte 8 Checksum Checksum byte, sum of bytes 0 to bytes 7
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/*
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The constructor also initialises the rangefinder. 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 rangefinder
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*/
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AP_RangeFinder_Benewake::AP_RangeFinder_Benewake(RangeFinder::RangeFinder_State &_state,
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AP_SerialManager &serial_manager,
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uint8_t serial_instance,
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benewake_model_type model) :
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AP_RangeFinder_Backend(_state),
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model_type(model)
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{
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
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if (uart != nullptr) {
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uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
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}
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}
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/*
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detect if a Benewake rangefinder is connected. We'll detect by
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trying to take a reading on Serial. If we get a result the sensor is
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there.
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*/
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bool AP_RangeFinder_Benewake::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
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{
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return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
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}
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// distance returned in reading_cm, signal_ok is set to true if sensor reports a strong signal
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bool AP_RangeFinder_Benewake::get_reading(uint16_t &reading_cm)
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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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float sum_cm = 0;
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uint16_t count = 0;
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uint16_t count_out_of_range = 0;
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// read any available lines from the lidar
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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 buffer is empty and this byte is 0x59, add to buffer
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if (linebuf_len == 0) {
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if (c == BENEWAKE_FRAME_HEADER) {
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linebuf[linebuf_len++] = c;
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}
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} else if (linebuf_len == 1) {
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// if buffer has 1 element and this byte is 0x59, add it to buffer
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// if not clear the buffer
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if (c == BENEWAKE_FRAME_HEADER) {
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linebuf[linebuf_len++] = c;
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} else {
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linebuf_len = 0;
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}
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} else {
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// add character to buffer
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linebuf[linebuf_len++] = c;
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// if buffer now has 9 items try to decode it
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if (linebuf_len == BENEWAKE_FRAME_LENGTH) {
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// calculate checksum
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uint16_t checksum = 0;
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for (uint8_t i=0; i<BENEWAKE_FRAME_LENGTH-1; i++) {
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checksum += linebuf[i];
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}
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// if checksum matches extract contents
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if ((uint8_t)(checksum & 0xFF) == linebuf[BENEWAKE_FRAME_LENGTH-1]) {
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// calculate distance
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uint16_t dist = ((uint16_t)linebuf[3] << 8) | linebuf[2];
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if (dist >= BENEWAKE_DIST_MAX_CM) {
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// this reading is out of range
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count_out_of_range++;
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} else if (model_type == BENEWAKE_TFmini) {
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// TFmini has short distance mode (mm)
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if (linebuf[6] == 0x02) {
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dist *= 0.1f;
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}
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// no signal byte from TFmini so add distance to sum
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sum_cm += dist;
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count++;
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} else {
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// TF02 provides signal reliability (good = 7 or 8)
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if (linebuf[6] >= 7) {
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// add distance to sum
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sum_cm += dist;
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count++;
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} else {
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// this reading is out of range
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count_out_of_range++;
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}
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}
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}
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// clear buffer
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linebuf_len = 0;
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}
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}
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}
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if (count > 0) {
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// return average distance of readings
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reading_cm = sum_cm / count;
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return true;
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}
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if (count_out_of_range > 0) {
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// if only out of range readings return max range + 1m
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reading_cm = max_distance_cm() + BENEWAKE_OUT_OF_RANGE_ADD_CM;
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return true;
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}
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// no readings so return false
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return false;
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}
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/*
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update the state of the sensor
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*/
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void AP_RangeFinder_Benewake::update(void)
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{
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if (get_reading(state.distance_cm)) {
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// update range_valid state based on distance measured
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state.last_reading_ms = AP_HAL::millis();
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update_status();
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} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
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set_status(RangeFinder::RangeFinder_NoData);
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}
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}
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