mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.3 KiB
C++
82 lines
2.3 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include "AP_RangeFinder_Benewake_CAN.h"
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#include <AP_HAL/utility/sparse-endian.h>
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#if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
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RangeFinder_MultiCAN *AP_RangeFinder_Benewake_CAN::multican;
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/*
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constructor
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*/
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AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
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AP_RangeFinder_Backend_CAN(_state, _params)
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{
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if (multican == nullptr) {
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multican = new RangeFinder_MultiCAN(AP_CAN::Protocol::Benewake, "Benewake MultiCAN");
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if (multican == nullptr) {
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AP_BoardConfig::allocation_error("Benewake_CAN");
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}
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}
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{
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// add to linked list of drivers
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WITH_SEMAPHORE(multican->sem);
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auto *prev = multican->drivers;
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next = prev;
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multican->drivers = this;
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}
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}
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// handler for incoming frames for H30 radar
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bool AP_RangeFinder_Benewake_CAN::handle_frame_H30(AP_HAL::CANFrame &frame)
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{
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/*
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The H30 produces 3 targets, each as 16 bit unsigned integers in
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cm. Only look at target1 for now
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*/
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const uint16_t target1_cm = be16toh_ptr(&frame.data[0]);
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if (target1_cm == 0) {
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// no target gives 0
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return false;
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}
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//uint16_t target2 = be16toh_ptr(&frame.data[2]);
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//uint16_t target3 = be16toh_ptr(&frame.data[4]);
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accumulate_distance_m(target1_cm * 0.01);
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return true;
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}
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// handler for incoming frames. These come in at 100Hz
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bool AP_RangeFinder_Benewake_CAN::handle_frame(AP_HAL::CANFrame &frame)
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{
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WITH_SEMAPHORE(_sem);
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if (frame.isExtended()) {
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// H30 radar uses extended frames
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const int32_t id = int32_t(frame.id & AP_HAL::CANFrame::MaskExtID);
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if (!is_correct_id(id)) {
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return false;
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}
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return handle_frame_H30(frame);
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}
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const uint16_t id = frame.id & AP_HAL::CANFrame::MaskStdID;
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if (!is_correct_id(id)) {
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return false;
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}
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const uint16_t dist_cm = le16toh_ptr(&frame.data[0]);
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const uint16_t snr = le16toh_ptr(&frame.data[2]);
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if (snr_min != 0 && snr < uint16_t(snr_min.get())) {
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// too low signal strength
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return true;
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}
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accumulate_distance_m(dist_cm * 0.01);
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return true;
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}
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#endif // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
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