mirror of https://github.com/ArduPilot/ardupilot
425 lines
14 KiB
C++
425 lines
14 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/>.
|
|
*/
|
|
|
|
#include "AP_Proximity_LightWareSF40C.h"
|
|
|
|
#if HAL_PROXIMITY_ENABLED
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/utility/sparse-endian.h>
|
|
#include <AP_Math/crc.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#define PROXIMITY_SF40C_HEADER 0xAA
|
|
#define PROXIMITY_SF40C_DESIRED_OUTPUT_RATE 3
|
|
|
|
// update the state of the sensor
|
|
void AP_Proximity_LightWareSF40C::update(void)
|
|
{
|
|
if (_uart == nullptr) {
|
|
return;
|
|
}
|
|
|
|
// initialise sensor if necessary
|
|
initialise();
|
|
|
|
// process incoming messages
|
|
process_replies();
|
|
|
|
// check for timeout and set health status
|
|
if ((_last_distance_received_ms == 0) || ((AP_HAL::millis() - _last_distance_received_ms) > PROXIMITY_SF40C_TIMEOUT_MS)) {
|
|
set_status(AP_Proximity::Status::NoData);
|
|
} else {
|
|
set_status(AP_Proximity::Status::Good);
|
|
}
|
|
}
|
|
|
|
// initialise sensor
|
|
void AP_Proximity_LightWareSF40C::initialise()
|
|
{
|
|
// exit immediately if we've sent initialisation requests in the last second
|
|
uint32_t now_ms = AP_HAL::millis();
|
|
if ((now_ms - _last_request_ms) < 1000) {
|
|
return;
|
|
}
|
|
_last_request_ms = now_ms;
|
|
|
|
// re-fetch motor state
|
|
request_motor_state();
|
|
|
|
// get token from sensor (required for reseting)
|
|
if (!got_token()) {
|
|
request_token();
|
|
return;
|
|
}
|
|
|
|
// if no replies in last 15 seconds reboot sensor
|
|
if ((now_ms > 30000) && (now_ms - _last_reply_ms > 15000)) {
|
|
restart_sensor();
|
|
return;
|
|
}
|
|
|
|
// if motor is starting up give more time to succeed or fail
|
|
if ((_sensor_state.motor_state != MotorState::RUNNING_NORMALLY) &&
|
|
(_sensor_state.motor_state != MotorState::FAILED_TO_COMMUNICATE)) {
|
|
return;
|
|
}
|
|
|
|
// if motor fails, reset sensor and re-try everything
|
|
if (_sensor_state.motor_state == MotorState::FAILED_TO_COMMUNICATE) {
|
|
restart_sensor();
|
|
return;
|
|
}
|
|
|
|
// motor is running correctly (motor_state is RUNNING_NORMALLY) so request start of streaming
|
|
if (!_sensor_state.streaming || (_sensor_state.output_rate != PROXIMITY_SF40C_DESIRED_OUTPUT_RATE)) {
|
|
request_stream_start();
|
|
return;
|
|
}
|
|
}
|
|
|
|
// restart sensor and re-init our state
|
|
void AP_Proximity_LightWareSF40C::restart_sensor()
|
|
{
|
|
// return immediately if no token or a restart has been requested within the last 30sec
|
|
uint32_t now_ms = AP_HAL::millis();
|
|
if ((_last_restart_ms != 0) && ((now_ms - _last_restart_ms) < 30000)) {
|
|
return;
|
|
}
|
|
|
|
// restart sensor and re-initialise sensor state
|
|
request_reset();
|
|
clear_token();
|
|
_last_restart_ms = now_ms;
|
|
_sensor_state.motor_state = MotorState::UNKNOWN;
|
|
_sensor_state.streaming = false;
|
|
_sensor_state.output_rate = 0;
|
|
}
|
|
|
|
// send message to sensor
|
|
void AP_Proximity_LightWareSF40C::send_message(MessageID msgid, bool write, const uint8_t *payload, uint16_t payload_len)
|
|
{
|
|
if ((_uart == nullptr) || (payload_len > PROXIMITY_SF40C_PAYLOAD_LEN_MAX)) {
|
|
return;
|
|
}
|
|
|
|
// check for sufficient space in outgoing buffer
|
|
if (_uart->txspace() < payload_len + 6U) {
|
|
return;
|
|
}
|
|
|
|
// write header
|
|
_uart->write((uint8_t)PROXIMITY_SF40C_HEADER);
|
|
uint16_t crc = crc_xmodem_update(0, PROXIMITY_SF40C_HEADER);
|
|
|
|
// write flags including payload length
|
|
const uint16_t flags = ((payload_len+1) << 6) | (write ? 0x01 : 0);
|
|
_uart->write(LOWBYTE(flags));
|
|
crc = crc_xmodem_update(crc, LOWBYTE(flags));
|
|
_uart->write(HIGHBYTE(flags));
|
|
crc = crc_xmodem_update(crc, HIGHBYTE(flags));
|
|
|
|
// msgid
|
|
_uart->write((uint8_t)msgid);
|
|
crc = crc_xmodem_update(crc, (uint8_t)msgid);
|
|
|
|
// payload
|
|
if ((payload_len > 0) && (payload != nullptr)) {
|
|
for (uint16_t i = 0; i < payload_len; i++) {
|
|
_uart->write(payload[i]);
|
|
crc = crc_xmodem_update(crc, payload[i]);
|
|
}
|
|
}
|
|
|
|
// checksum
|
|
_uart->write(LOWBYTE(crc));
|
|
_uart->write(HIGHBYTE(crc));
|
|
}
|
|
|
|
// request motor state
|
|
void AP_Proximity_LightWareSF40C::request_motor_state()
|
|
{
|
|
send_message(MessageID::MOTOR_STATE, false, (const uint8_t *)nullptr, 0);
|
|
}
|
|
|
|
// request start of streaming of distances
|
|
void AP_Proximity_LightWareSF40C::request_stream_start()
|
|
{
|
|
// request output rate
|
|
const uint8_t desired_rate = PROXIMITY_SF40C_DESIRED_OUTPUT_RATE; // 0 = 20010, 1 = 10005, 2 = 6670, 3 = 2001
|
|
send_message(MessageID::OUTPUT_RATE, true, &desired_rate, sizeof(desired_rate));
|
|
|
|
// request streaming to start
|
|
const le32_t val = htole32(3);
|
|
send_message(MessageID::STREAM, true, (const uint8_t*)&val, sizeof(val));
|
|
}
|
|
|
|
// request token of sensor
|
|
void AP_Proximity_LightWareSF40C::request_token()
|
|
{
|
|
// request token
|
|
send_message(MessageID::TOKEN, false, nullptr, 0);
|
|
}
|
|
|
|
// request reset of sensor
|
|
void AP_Proximity_LightWareSF40C::request_reset()
|
|
{
|
|
// send reset request
|
|
send_message(MessageID::RESET, true, _sensor_state.token, ARRAY_SIZE(_sensor_state.token));
|
|
}
|
|
|
|
// check for replies from sensor
|
|
void AP_Proximity_LightWareSF40C::process_replies()
|
|
{
|
|
if (_uart == nullptr) {
|
|
return;
|
|
}
|
|
|
|
int16_t nbytes = _uart->available();
|
|
while (nbytes-- > 0) {
|
|
const int16_t r = _uart->read();
|
|
if ((r < 0) || (r > 0xFF)) {
|
|
continue;
|
|
}
|
|
parse_byte((uint8_t)r);
|
|
}
|
|
}
|
|
|
|
// process one byte received on serial port
|
|
// state is stored in _msg structure
|
|
void AP_Proximity_LightWareSF40C::parse_byte(uint8_t b)
|
|
{
|
|
// check that payload buffer is large enough
|
|
static_assert(ARRAY_SIZE(_msg.payload) == PROXIMITY_SF40C_PAYLOAD_LEN_MAX, "AP_Proximity_LightWareSF40C: check _msg.payload array size");
|
|
|
|
// process byte depending upon current state
|
|
switch (_msg.state) {
|
|
|
|
case ParseState::HEADER:
|
|
if (b == PROXIMITY_SF40C_HEADER) {
|
|
_msg.crc_expected = crc_xmodem_update(0, b);
|
|
_msg.state = ParseState::FLAGS_L;
|
|
}
|
|
break;
|
|
|
|
case ParseState::FLAGS_L:
|
|
_msg.flags_low = b;
|
|
_msg.crc_expected = crc_xmodem_update(_msg.crc_expected, b);
|
|
_msg.state = ParseState::FLAGS_H;
|
|
break;
|
|
|
|
case ParseState::FLAGS_H:
|
|
_msg.flags_high = b;
|
|
_msg.crc_expected = crc_xmodem_update(_msg.crc_expected, b);
|
|
_msg.payload_len = UINT16_VALUE(_msg.flags_high, _msg.flags_low) >> 6;
|
|
if ((_msg.payload_len == 0) || (_msg.payload_len > PROXIMITY_SF40C_PAYLOAD_LEN_MAX)) {
|
|
// invalid payload length, abandon message
|
|
_msg.state = ParseState::HEADER;
|
|
} else {
|
|
_msg.state = ParseState::MSG_ID;
|
|
}
|
|
break;
|
|
|
|
case ParseState::MSG_ID:
|
|
_msg.msgid = (MessageID)b;
|
|
_msg.crc_expected = crc_xmodem_update(_msg.crc_expected, b);
|
|
if (_msg.payload_len > 1) {
|
|
_msg.state = ParseState::PAYLOAD;
|
|
} else {
|
|
_msg.state = ParseState::CRC_L;
|
|
}
|
|
_msg.payload_recv = 0;
|
|
break;
|
|
|
|
case ParseState::PAYLOAD:
|
|
if (_msg.payload_recv < (_msg.payload_len - 1)) {
|
|
_msg.payload[_msg.payload_recv] = b;
|
|
_msg.payload_recv++;
|
|
_msg.crc_expected = crc_xmodem_update(_msg.crc_expected, b);
|
|
}
|
|
if (_msg.payload_recv >= (_msg.payload_len - 1)) {
|
|
_msg.state = ParseState::CRC_L;
|
|
}
|
|
break;
|
|
|
|
case ParseState::CRC_L:
|
|
_msg.crc_low = b;
|
|
_msg.state = ParseState::CRC_H;
|
|
break;
|
|
|
|
case ParseState::CRC_H:
|
|
_msg.crc_high = b;
|
|
if (_msg.crc_expected == UINT16_VALUE(_msg.crc_high, _msg.crc_low)) {
|
|
process_message();
|
|
_last_reply_ms = AP_HAL::millis();
|
|
}
|
|
_msg.state = ParseState::HEADER;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// process the latest message held in the _msg structure
|
|
void AP_Proximity_LightWareSF40C::process_message()
|
|
{
|
|
// process payload
|
|
switch (_msg.msgid) {
|
|
case MessageID::TOKEN:
|
|
// copy token into _sensor_state.token variable
|
|
if (_msg.payload_recv == ARRAY_SIZE(_sensor_state.token)) {
|
|
memcpy(_sensor_state.token, _msg.payload, ARRAY_SIZE(_sensor_state.token));
|
|
}
|
|
break;
|
|
case MessageID::RESET:
|
|
// no need to do anything
|
|
break;
|
|
case MessageID::STREAM:
|
|
if (_msg.payload_recv == sizeof(uint32_t)) {
|
|
_sensor_state.streaming = (buff_to_uint32(_msg.payload[0], _msg.payload[1], _msg.payload[2], _msg.payload[3]) == 3);
|
|
}
|
|
break;
|
|
case MessageID::DISTANCE_OUTPUT: {
|
|
_last_distance_received_ms = AP_HAL::millis();
|
|
const uint16_t point_total = buff_to_uint16(_msg.payload[8], _msg.payload[9]);
|
|
const uint16_t point_count = buff_to_uint16(_msg.payload[10], _msg.payload[11]);
|
|
const uint16_t point_start_index = buff_to_uint16(_msg.payload[12], _msg.payload[13]);
|
|
// sanity check point_total
|
|
if (point_total == 0) {
|
|
break;
|
|
}
|
|
|
|
// prepare to push to object database
|
|
Vector3f current_pos;
|
|
Matrix3f body_to_ned;
|
|
const bool database_ready = database_prepare_for_push(current_pos, body_to_ned);
|
|
|
|
// process each point
|
|
const float angle_inc_deg = (1.0f / point_total) * 360.0f;
|
|
const float angle_sign = (frontend.get_orientation(state.instance) == 1) ? -1.0f : 1.0f;
|
|
const float angle_correction = frontend.get_yaw_correction(state.instance);
|
|
const uint16_t dist_min_cm = distance_min() * 100;
|
|
const uint16_t dist_max_cm = distance_max() * 100;
|
|
|
|
// mini sectors are used to combine several readings together
|
|
uint8_t combined_count = 0;
|
|
float combined_angle_deg = 0;
|
|
float combined_dist_m = INT16_MAX;
|
|
for (uint16_t i = 0; i < point_count; i++) {
|
|
const uint16_t idx = 14 + (i * 2);
|
|
const int16_t dist_cm = (int16_t)buff_to_uint16(_msg.payload[idx], _msg.payload[idx+1]);
|
|
const float angle_deg = wrap_360((point_start_index + i) * angle_inc_deg * angle_sign + angle_correction);
|
|
const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle_deg);
|
|
|
|
// if point is on a new face then finish off previous face
|
|
if (face != _face) {
|
|
// update boundary used for avoidance
|
|
if (_face_distance_valid) {
|
|
boundary.set_face_attributes(_face, _face_yaw_deg, _face_distance);
|
|
} else {
|
|
// mark previous face invalid
|
|
boundary.reset_face(_face);
|
|
}
|
|
// init for new face
|
|
_face = face;
|
|
_face_distance_valid = false;
|
|
}
|
|
|
|
// check reading is not within an ignore zone
|
|
const float dist_m = dist_cm * 0.01f;
|
|
if (!ignore_reading(angle_deg, dist_m)) {
|
|
// check distance reading is valid
|
|
if ((dist_cm >= dist_min_cm) && (dist_cm <= dist_max_cm)) {
|
|
// update shortest distance for this face
|
|
if (!_face_distance_valid || dist_m < _face_distance) {
|
|
_face_distance = dist_m;
|
|
_face_distance_valid = true;
|
|
}
|
|
|
|
// calculate shortest of last few readings
|
|
if (dist_m < combined_dist_m) {
|
|
combined_dist_m = dist_m;
|
|
combined_angle_deg = angle_deg;
|
|
}
|
|
combined_count++;
|
|
}
|
|
}
|
|
|
|
// send combined distance to object database
|
|
if ((i+1 >= point_count) || (combined_count >= PROXIMITY_SF40C_COMBINE_READINGS)) {
|
|
if ((combined_dist_m < INT16_MAX) && database_ready) {
|
|
database_push(combined_angle_deg, combined_dist_m, _last_distance_received_ms, current_pos,body_to_ned);
|
|
}
|
|
combined_count = 0;
|
|
combined_dist_m = INT16_MAX;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case MessageID::MOTOR_STATE:
|
|
if (_msg.payload_recv == 1) {
|
|
_sensor_state.motor_state = (MotorState)_msg.payload[0];
|
|
}
|
|
break;
|
|
case MessageID::OUTPUT_RATE:
|
|
if (_msg.payload_recv == 1) {
|
|
_sensor_state.output_rate = _msg.payload[0];
|
|
}
|
|
break;
|
|
|
|
// unsupported messages
|
|
case MessageID::PRODUCT_NAME:
|
|
case MessageID::HARDWARE_VERSION:
|
|
case MessageID::FIRMWARE_VERSION:
|
|
case MessageID::SERIAL_NUMBER:
|
|
case MessageID::TEXT_MESSAGE:
|
|
case MessageID::USER_DATA:
|
|
case MessageID::SAVE_PARAMETERS:
|
|
case MessageID::STAGE_FIRMWARE:
|
|
case MessageID::COMMIT_FIRMWARE:
|
|
case MessageID::INCOMING_VOLTAGE:
|
|
case MessageID::LASER_FIRING:
|
|
case MessageID::TEMPERATURE:
|
|
case MessageID::BAUD_RATE:
|
|
case MessageID::DISTANCE:
|
|
case MessageID::MOTOR_VOLTAGE:
|
|
case MessageID::FORWARD_OFFSET:
|
|
case MessageID::REVOLUTIONS:
|
|
case MessageID::ALARM_STATE:
|
|
case MessageID::ALARM1:
|
|
case MessageID::ALARM2:
|
|
case MessageID::ALARM3:
|
|
case MessageID::ALARM4:
|
|
case MessageID::ALARM5:
|
|
case MessageID::ALARM6:
|
|
case MessageID::ALARM7:
|
|
break;
|
|
}
|
|
}
|
|
|
|
// convert buffer to uint32, uint16
|
|
uint32_t AP_Proximity_LightWareSF40C::buff_to_uint32(uint8_t b0, uint8_t b1, uint8_t b2, uint8_t b3) const
|
|
{
|
|
uint32_t leval = (uint32_t)b0 | (uint32_t)b1 << 8 | (uint32_t)b2 << 16 | (uint32_t)b3 << 24;
|
|
return leval;
|
|
}
|
|
|
|
uint16_t AP_Proximity_LightWareSF40C::buff_to_uint16(uint8_t b0, uint8_t b1) const
|
|
{
|
|
uint16_t leval = (uint16_t)b0 | (uint16_t)b1 << 8;
|
|
return leval;
|
|
}
|
|
|
|
#endif // HAL_PROXIMITY_ENABLED
|