ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CX...

159 lines
4.1 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_RangeFinder_MaxsonarI2CXL.cpp - Arduino Library for MaxBotix I2C XL sonar
* Code by Randy Mackay. DIYDrones.com
*
* datasheet: http://www.maxbotix.com/documents/I2CXL-MaxSonar-EZ_Datasheet.pdf
*
* Sensor should be connected to the I2C port
*/
#include "AP_RangeFinder_MaxsonarI2CXL.h"
#include <utility>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
extern const AP_HAL::HAL& hal;
/*
The constructor also initializes the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_state)
, _dev(std::move(dev))
{
}
/*
detect if a Maxbotix rangefinder is connected. We'll detect by
trying to take a reading on I2C. If we get a result the sensor is
there.
*/
AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
AP_RangeFinder_MaxsonarI2CXL *sensor
= new AP_RangeFinder_MaxsonarI2CXL(_state, std::move(dev));
if (!sensor) {
return nullptr;
}
if (!sensor->_init()) {
delete sensor;
return nullptr;
}
return sensor;
}
/*
initialise sensor
*/
bool AP_RangeFinder_MaxsonarI2CXL::_init(void)
{
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
if (!start_reading()) {
_dev->get_semaphore()->give();
return false;
}
// give time for the sensor to process the request
hal.scheduler->delay(50);
uint16_t reading_cm;
if (!get_reading(reading_cm)) {
_dev->get_semaphore()->give();
return false;
}
_dev->get_semaphore()->give();
_dev->register_periodic_callback(50000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_MaxsonarI2CXL::_timer, void));
return true;
}
// start_reading() - ask sensor to make a range reading
bool AP_RangeFinder_MaxsonarI2CXL::start_reading()
{
uint8_t cmd = AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING;
// send command to take reading
return _dev->transfer(&cmd, sizeof(cmd), nullptr, 0);
}
// read - return last value measured by sensor
bool AP_RangeFinder_MaxsonarI2CXL::get_reading(uint16_t &reading_cm)
{
be16_t val;
// take range reading and read back results
bool ret = _dev->transfer(nullptr, 0, (uint8_t *) &val, sizeof(val));
if (ret) {
// combine results into distance
reading_cm = be16toh(val);
// trigger a new reading
start_reading();
}
return ret;
}
/*
timer called at 20Hz
*/
void AP_RangeFinder_MaxsonarI2CXL::_timer(void)
{
uint16_t d;
if (get_reading(d)) {
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
distance = d;
new_distance = true;
_sem->give();
}
}
}
/*
update the state of the sensor
*/
void AP_RangeFinder_MaxsonarI2CXL::update(void)
{
if (_sem->take_nonblocking()) {
if (new_distance) {
state.distance_cm = distance;
new_distance = false;
update_status();
} else {
set_status(RangeFinder::RangeFinder_NoData);
}
_sem->give();
}
}