mirror of https://github.com/ArduPilot/ardupilot
119 lines
3.6 KiB
C++
119 lines
3.6 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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#include "AP_RangeFinder_PulsedLightLRF.h"
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#include <utility>
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#include <AP_HAL/AP_HAL.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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/*
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The constructor also initializes 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_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(RangeFinder &_ranger, uint8_t instance,
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RangeFinder::RangeFinder_State &_state)
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: AP_RangeFinder_Backend(_ranger, instance, _state)
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, _dev(hal.i2c_mgr->get_device(1, AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR))
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{
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}
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/*
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detect if a PulsedLight rangefinder is connected. We'll detect by
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trying to take a reading on I2C. If we get a result the sensor is
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there.
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*/
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AP_RangeFinder_Backend *AP_RangeFinder_PulsedLightLRF::detect(RangeFinder &_ranger, uint8_t instance,
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RangeFinder::RangeFinder_State &_state)
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{
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AP_RangeFinder_PulsedLightLRF *sensor
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= new AP_RangeFinder_PulsedLightLRF(_ranger, instance, _state);
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if (!sensor || !sensor->start_reading()) {
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delete sensor;
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return nullptr;
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}
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// give time for the sensor to process the request
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hal.scheduler->delay(50);
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uint16_t reading_cm;
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if (!sensor->get_reading(reading_cm)) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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// start_reading() - ask sensor to make a range reading
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bool AP_RangeFinder_PulsedLightLRF::start_reading()
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{
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if (!_dev || !_dev->get_semaphore()->take(1)) {
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return false;
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}
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// send command to take reading
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bool ret = _dev->write_register(AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG,
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AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE);
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_dev->get_semaphore()->give();
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return ret;
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}
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// read - return last value measured by sensor
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bool AP_RangeFinder_PulsedLightLRF::get_reading(uint16_t &reading_cm)
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{
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be16_t val;
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if (!_dev->get_semaphore()->take(1)) {
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return false;
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}
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// read the high and low byte distance registers
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bool ret = _dev->read_registers(AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG,
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(uint8_t *) &val, sizeof(val));
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_dev->get_semaphore()->give();
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if (!ret) {
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return false;
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}
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// combine results into distance
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reading_cm = be16toh(val);
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// kick off another reading for next time
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// To-Do: replace this with continuous mode
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hal.scheduler->delay_microseconds(200);
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start_reading();
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return true;
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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_PulsedLightLRF::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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update_status();
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} else {
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set_status(RangeFinder::RangeFinder_NoData);
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}
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}
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