mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.7 KiB
C++
59 lines
1.7 KiB
C++
#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
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#include "AP_RangeFinder_TOFSenseP_CAN.h"
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <AP_HAL/AP_HAL.h>
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RangeFinder_MultiCAN *AP_RangeFinder_TOFSenseP_CAN::multican_TOFSenseP;
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/*
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constructor
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*/
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AP_RangeFinder_TOFSenseP_CAN::AP_RangeFinder_TOFSenseP_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_TOFSenseP == nullptr) {
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multican_TOFSenseP = new RangeFinder_MultiCAN(AP_CAN::Protocol::TOFSenseP, "TOFSenseP MultiCAN");
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if (multican_TOFSenseP == nullptr) {
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AP_BoardConfig::allocation_error("Rangefinder_MultiCAN");
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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_TOFSenseP->sem);
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auto *prev = multican_TOFSenseP->drivers;
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next = prev;
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multican_TOFSenseP->drivers = this;
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}
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}
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// handler for incoming frames. These come in at 10-30Hz
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bool AP_RangeFinder_TOFSenseP_CAN::handle_frame(AP_HAL::CANFrame &frame)
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{
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WITH_SEMAPHORE(_sem);
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const uint32_t id = frame.id - 0x200U;
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if (!is_correct_id(id)) {
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return false;
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}
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const int32_t dist_mm = (int32_t)(frame.data[0] << 8U | frame.data[1] << 16U | frame.data[2] << 24U) >> 8;
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const uint8_t status = frame.data[3];
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const uint16_t snr = le16toh_ptr(&frame.data[4]);
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if ((snr_min != 0 && snr < uint16_t(snr_min.get())) || status > 0) {
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// too low signal strength or bad status
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return false;
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}
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accumulate_distance_m(dist_mm * 0.001);
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return true;
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}
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#endif // AP_RANGEFINDER_TOFSenseP_CAN_ENABLED
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