ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN...

145 lines
4.1 KiB
C++

#include <AP_HAL/AP_HAL.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "AP_RangeFinder_Benewake_CAN.h"
#include <AP_HAL/utility/sparse-endian.h>
#if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
const AP_Param::GroupInfo AP_RangeFinder_Benewake_CAN::var_info[] = {
// @Param: RECV_ID
// @DisplayName: CAN receive ID
// @Description: The receive ID of the CAN frames. A value of zero means all IDs are accepted.
// @Range: 0 65535
// @User: Advanced
AP_GROUPINFO("RECV_ID", 10, AP_RangeFinder_Benewake_CAN, receive_id, 0),
// @Param: SNR_MIN
// @DisplayName: Minimum signal strength
// @Description: Minimum signal strength (SNR) to accept distance
// @Range: 0 65535
// @User: Advanced
AP_GROUPINFO("SNR_MIN", 11, AP_RangeFinder_Benewake_CAN, snr_min, 0),
AP_GROUPEND
};
Benewake_MultiCAN *AP_RangeFinder_Benewake_CAN::multican;
/*
constructor
*/
AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
AP_RangeFinder_Backend(_state, _params)
{
if (multican == nullptr) {
multican = new Benewake_MultiCAN();
if (multican == nullptr) {
AP_BoardConfig::allocation_error("Benewake_CAN");
}
}
{
// add to linked list of drivers
WITH_SEMAPHORE(multican->sem);
auto *prev = multican->drivers;
next = prev;
multican->drivers = this;
}
AP_Param::setup_object_defaults(this, var_info);
state.var_info = var_info;
}
// update state
void AP_RangeFinder_Benewake_CAN::update(void)
{
WITH_SEMAPHORE(_sem);
const uint32_t now = AP_HAL::millis();
if (_distance_count == 0 && now - state.last_reading_ms > 500) {
// no new data.
set_status(RangeFinder::Status::NoData);
} else if (_distance_count != 0) {
state.distance_m = 0.01 * (_distance_sum_cm / _distance_count);
state.last_reading_ms = AP_HAL::millis();
_distance_sum_cm = 0;
_distance_count = 0;
update_status();
}
}
// handler for incoming frames for H30 radar
bool AP_RangeFinder_Benewake_CAN::handle_frame_H30(AP_HAL::CANFrame &frame)
{
/*
The H30 produces 3 targets, each as 16 bit unsigned integers in
cm. Only look at target1 for now
*/
const uint16_t target1_cm = be16toh_ptr(&frame.data[0]);
if (target1_cm == 0) {
// no target gives 0
return false;
}
//uint16_t target2 = be16toh_ptr(&frame.data[2]);
//uint16_t target3 = be16toh_ptr(&frame.data[4]);
_distance_sum_cm += target1_cm;
_distance_count++;
return true;
}
// handler for incoming frames. These come in at 100Hz
bool AP_RangeFinder_Benewake_CAN::handle_frame(AP_HAL::CANFrame &frame)
{
WITH_SEMAPHORE(_sem);
if (frame.isExtended()) {
// H30 radar uses extended frames
const int32_t id = int32_t(frame.id & AP_HAL::CANFrame::MaskExtID);
if (receive_id != 0 && id != receive_id.get()) {
// incorrect receive ID
return false;
}
if (last_recv_id != -1 && id != last_recv_id) {
// changing ID
return false;
}
last_recv_id = id;
return handle_frame_H30(frame);
}
const uint16_t id = frame.id & AP_HAL::CANFrame::MaskStdID;
if (receive_id != 0 && id != uint16_t(receive_id.get())) {
// incorrect receive ID
return false;
}
if (last_recv_id != -1 && id != last_recv_id) {
// changing ID
return false;
}
last_recv_id = id;
const uint16_t dist_cm = le16toh_ptr(&frame.data[0]);
const uint16_t snr = le16toh_ptr(&frame.data[2]);
if (snr_min != 0 && snr < uint16_t(snr_min.get())) {
// too low signal strength
return true;
}
_distance_sum_cm += dist_cm;
_distance_count++;
return true;
}
// handle frames from CANSensor, passing to the drivers
void Benewake_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
{
WITH_SEMAPHORE(sem);
for (auto *d = drivers; d; d=d->next) {
if (d->handle_frame(frame)) {
break;
}
}
}
#endif // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED