mirror of https://github.com/ArduPilot/ardupilot
126 lines
3.9 KiB
C++
126 lines
3.9 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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/*
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driver for Lanbao PSK-CM8JL65-CC5 Lidar
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_RangeFinder_Lanbao.h"
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_Math/crc.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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/*
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this sensor has no way of reporting "out of range", it will keep
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reporting distances at of around 7 to 8 meters even when pointed at
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the sky. For this reason we limit the max range to 6 meters as
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otherwise we may be giving false data
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*/
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#define LANBAO_MAX_RANGE_CM 600
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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_Lanbao::AP_RangeFinder_Lanbao(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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uint8_t serial_instance) :
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AP_RangeFinder_Backend(_state, _params)
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{
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const AP_SerialManager &serial_manager = AP::serialmanager();
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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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// always 115200
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uart->begin(115200);
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}
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}
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/*
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detect if a rangefinder is connected. We'll detect by trying to
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take a reading on Serial. If we get a result the sensor is there.
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*/
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bool AP_RangeFinder_Lanbao::detect(uint8_t serial_instance)
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{
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return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
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}
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// read - return last value measured by sensor
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bool AP_RangeFinder_Lanbao::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_range = 0;
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uint32_t count = 0;
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// format is: [ 0xA5 | 0x5A | distance-MSB-mm | distance-LSB-mm | crc16 ]
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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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int16_t b = uart->read();
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if (b == -1) {
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break;
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}
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if (buf_len == 0 && b != 0xA5) {
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// discard
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continue;
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}
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if (buf_len == 1 && b != 0x5A) {
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// discard
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if (b == 0xA5) {
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buf[0] = b;
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} else {
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buf_len = 0;
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}
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continue;
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}
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buf[buf_len++] = b;
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if (buf_len == sizeof(buf)) {
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buf_len = 0;
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uint16_t crc = (buf[5]<<8) | buf[4];
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if (crc != calc_crc_modbus(buf, 4)) {
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// bad CRC, discard
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continue;
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}
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sum_range += float((buf[2]<<8) | buf[3]) * 0.001;
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count++;
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}
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}
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if (count > 0) {
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reading_cm = (sum_range / count) * 100;
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return reading_cm <= LANBAO_MAX_RANGE_CM?true:false;
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}
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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_Lanbao::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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