mirror of https://github.com/ArduPilot/ardupilot
450 lines
15 KiB
C++
450 lines
15 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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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/sparse-endian.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 "AP_Proximity_LightWareSF40C.h"
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extern const AP_HAL::HAL& hal;
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#define PROXIMITY_SF40C_HEADER 0xAA
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#define PROXIMITY_SF40C_DESIRED_OUTPUT_RATE 3
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#define PROXIMITY_SF40C_UART_RX_SPACE 1280
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/*
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The constructor also initialises the proximity sensor. 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 proximity sensor
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*/
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AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,
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AP_Proximity::Proximity_State &_state) :
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AP_Proximity_Backend(_frontend, _state)
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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_Lidar360, 0);
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if (_uart != nullptr) {
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// start uart with larger receive buffer
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_uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0), PROXIMITY_SF40C_UART_RX_SPACE, 0);
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}
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}
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// detect if a Lightware proximity sensor is connected by looking for a configured serial port
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bool AP_Proximity_LightWareSF40C::detect()
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{
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return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
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}
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// update the state of the sensor
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void AP_Proximity_LightWareSF40C::update(void)
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{
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if (_uart == nullptr) {
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return;
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}
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// initialise sensor if necessary
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initialise();
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// process incoming messages
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process_replies();
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// check for timeout and set health status
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if ((_last_distance_received_ms == 0) || ((AP_HAL::millis() - _last_distance_received_ms) > PROXIMITY_SF40C_TIMEOUT_MS)) {
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set_status(AP_Proximity::Status::NoData);
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} else {
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set_status(AP_Proximity::Status::Good);
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}
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}
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// initialise sensor
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void AP_Proximity_LightWareSF40C::initialise()
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{
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// initialise boundary
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init_boundary();
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// exit immediately if we've sent initialisation requests in the last second
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uint32_t now_ms = AP_HAL::millis();
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if ((now_ms - _last_request_ms) < 1000) {
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return;
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}
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_last_request_ms = now_ms;
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// re-fetch motor state
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request_motor_state();
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// get token from sensor (required for reseting)
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if (!got_token()) {
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request_token();
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return;
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}
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// if no replies in last 15 seconds reboot sensor
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if ((now_ms > 30000) && (now_ms - _last_reply_ms > 15000)) {
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restart_sensor();
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return;
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}
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// if motor is starting up give more time to succeed or fail
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if ((_sensor_state.motor_state != MotorState::RUNNING_NORMALLY) &&
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(_sensor_state.motor_state != MotorState::FAILED_TO_COMMUNICATE)) {
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return;
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}
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// if motor fails, reset sensor and re-try everything
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if (_sensor_state.motor_state == MotorState::FAILED_TO_COMMUNICATE) {
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restart_sensor();
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return;
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}
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// motor is running correctly (motor_state is RUNNING_NORMALLY) so request start of streaming
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if (!_sensor_state.streaming || (_sensor_state.output_rate != PROXIMITY_SF40C_DESIRED_OUTPUT_RATE)) {
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request_stream_start();
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return;
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}
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}
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// restart sensor and re-init our state
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void AP_Proximity_LightWareSF40C::restart_sensor()
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{
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// return immediately if no token or a restart has been requested within the last 30sec
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uint32_t now_ms = AP_HAL::millis();
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if ((_last_restart_ms != 0) && ((now_ms - _last_restart_ms) < 30000)) {
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return;
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}
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// restart sensor and re-initialise sensor state
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request_reset();
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clear_token();
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_last_restart_ms = now_ms;
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_sensor_state.motor_state = MotorState::UNKNOWN;
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_sensor_state.streaming = false;
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_sensor_state.output_rate = 0;
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}
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// send message to sensor
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void AP_Proximity_LightWareSF40C::send_message(MessageID msgid, bool write, const uint8_t *payload, uint16_t payload_len)
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{
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if ((_uart == nullptr) || (payload_len > PROXIMITY_SF40C_PAYLOAD_LEN_MAX)) {
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return;
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}
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// check for sufficient space in outgoing buffer
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if (_uart->txspace() < payload_len + 6U) {
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return;
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}
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// write header
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_uart->write((uint8_t)PROXIMITY_SF40C_HEADER);
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uint16_t crc = crc_xmodem_update(0, PROXIMITY_SF40C_HEADER);
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// write flags including payload length
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const uint16_t flags = ((payload_len+1) << 6) | (write ? 0x01 : 0);
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_uart->write(LOWBYTE(flags));
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crc = crc_xmodem_update(crc, LOWBYTE(flags));
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_uart->write(HIGHBYTE(flags));
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crc = crc_xmodem_update(crc, HIGHBYTE(flags));
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// msgid
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_uart->write((uint8_t)msgid);
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crc = crc_xmodem_update(crc, (uint8_t)msgid);
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// payload
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if ((payload_len > 0) && (payload != nullptr)) {
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for (uint16_t i = 0; i < payload_len; i++) {
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_uart->write(payload[i]);
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crc = crc_xmodem_update(crc, payload[i]);
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}
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}
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// checksum
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_uart->write(LOWBYTE(crc));
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_uart->write(HIGHBYTE(crc));
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}
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// request motor state
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void AP_Proximity_LightWareSF40C::request_motor_state()
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{
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send_message(MessageID::MOTOR_STATE, false, (const uint8_t *)nullptr, 0);
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}
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// request start of streaming of distances
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void AP_Proximity_LightWareSF40C::request_stream_start()
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{
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// request output rate
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const uint8_t desired_rate = PROXIMITY_SF40C_DESIRED_OUTPUT_RATE; // 0 = 20010, 1 = 10005, 2 = 6670, 3 = 2001
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send_message(MessageID::OUTPUT_RATE, true, &desired_rate, sizeof(desired_rate));
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// request streaming to start
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const le32_t val = htole32(3);
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send_message(MessageID::STREAM, true, (const uint8_t*)&val, sizeof(val));
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}
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// request token of sensor
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void AP_Proximity_LightWareSF40C::request_token()
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{
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// request token
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send_message(MessageID::TOKEN, false, nullptr, 0);
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}
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// request reset of sensor
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void AP_Proximity_LightWareSF40C::request_reset()
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{
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// send reset request
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send_message(MessageID::RESET, true, _sensor_state.token, ARRAY_SIZE(_sensor_state.token));
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}
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// check for replies from sensor
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void AP_Proximity_LightWareSF40C::process_replies()
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{
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if (_uart == nullptr) {
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return;
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}
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int16_t nbytes = _uart->available();
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while (nbytes-- > 0) {
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const int16_t r = _uart->read();
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if ((r < 0) || (r > 0xFF)) {
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continue;
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}
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parse_byte((uint8_t)r);
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}
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}
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// process one byte received on serial port
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// returns true if a message has been successfully parsed
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// state is stored in _msg structure
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void AP_Proximity_LightWareSF40C::parse_byte(uint8_t b)
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{
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// check that payload buffer is large enough
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static_assert(ARRAY_SIZE(_msg.payload) == PROXIMITY_SF40C_PAYLOAD_LEN_MAX, "AP_Proximity_LightwareSF40C: check _msg.payload array size ");
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// process byte depending upon current state
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switch (_msg.state) {
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case ParseState::HEADER:
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if (b == PROXIMITY_SF40C_HEADER) {
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_msg.crc_expected = crc_xmodem_update(0, b);
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_msg.state = ParseState::FLAGS_L;
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}
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break;
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case ParseState::FLAGS_L:
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_msg.flags_low = b;
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_msg.crc_expected = crc_xmodem_update(_msg.crc_expected, b);
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_msg.state = ParseState::FLAGS_H;
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break;
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case ParseState::FLAGS_H:
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_msg.flags_high = b;
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_msg.crc_expected = crc_xmodem_update(_msg.crc_expected, b);
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_msg.payload_len = UINT16_VALUE(_msg.flags_high, _msg.flags_low) >> 6;
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if ((_msg.payload_len == 0) || (_msg.payload_len > PROXIMITY_SF40C_PAYLOAD_LEN_MAX)) {
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// invalid payload length, abandon message
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_msg.state = ParseState::HEADER;
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} else {
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_msg.state = ParseState::MSG_ID;
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}
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break;
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case ParseState::MSG_ID:
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_msg.msgid = (MessageID)b;
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_msg.crc_expected = crc_xmodem_update(_msg.crc_expected, b);
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if (_msg.payload_len > 1) {
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_msg.state = ParseState::PAYLOAD;
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} else {
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_msg.state = ParseState::CRC_L;
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}
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_msg.payload_recv = 0;
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break;
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case ParseState::PAYLOAD:
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if (_msg.payload_recv < (_msg.payload_len - 1)) {
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_msg.payload[_msg.payload_recv] = b;
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_msg.payload_recv++;
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_msg.crc_expected = crc_xmodem_update(_msg.crc_expected, b);
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}
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if (_msg.payload_recv >= (_msg.payload_len - 1)) {
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_msg.state = ParseState::CRC_L;
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}
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break;
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case ParseState::CRC_L:
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_msg.crc_low = b;
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_msg.state = ParseState::CRC_H;
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break;
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case ParseState::CRC_H:
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_msg.crc_high = b;
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if (_msg.crc_expected == UINT16_VALUE(_msg.crc_high, _msg.crc_low)) {
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process_message();
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_last_reply_ms = AP_HAL::millis();
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}
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_msg.state = ParseState::HEADER;
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break;
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}
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}
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// process the latest message held in the _msg structure
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void AP_Proximity_LightWareSF40C::process_message()
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{
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// process payload
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switch (_msg.msgid) {
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case MessageID::TOKEN:
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// copy token into _sensor_state.token variable
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if (_msg.payload_recv == ARRAY_SIZE(_sensor_state.token)) {
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memcpy(_sensor_state.token, _msg.payload, ARRAY_SIZE(_sensor_state.token));
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}
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break;
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case MessageID::RESET:
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// no need to do anything
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break;
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case MessageID::STREAM:
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if (_msg.payload_recv == sizeof(uint32_t)) {
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_sensor_state.streaming = (buff_to_uint32(_msg.payload[0], _msg.payload[1], _msg.payload[2], _msg.payload[3]) == 3);
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}
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break;
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case MessageID::DISTANCE_OUTPUT: {
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_last_distance_received_ms = AP_HAL::millis();
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const uint16_t point_total = buff_to_uint16(_msg.payload[8], _msg.payload[9]);
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const uint16_t point_count = buff_to_uint16(_msg.payload[10], _msg.payload[11]);
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const uint16_t point_start_index = buff_to_uint16(_msg.payload[12], _msg.payload[13]);
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// sanity check point_total
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if (point_total == 0) {
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break;
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}
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// prepare to push to object database
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Location current_loc;
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float current_heading;
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const bool database_ready = database_prepare_for_push(current_loc, current_heading);
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// process each point
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const float angle_inc_deg = (1.0f / point_total) * 360.0f;
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const float angle_sign = (frontend.get_orientation(state.instance) == 1) ? -1.0f : 1.0f;
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const float angle_correction = frontend.get_yaw_correction(state.instance);
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const uint16_t dist_min_cm = distance_min() * 100;
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const uint16_t dist_max_cm = distance_max() * 100;
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// mini sectors are used to combine several readings together
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uint8_t combined_count = 0;
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float combined_angle_deg = 0;
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float combined_dist_m = INT16_MAX;
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for (uint16_t i = 0; i < point_count; i++) {
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const uint16_t idx = 14 + (i * 2);
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const int16_t dist_cm = (int16_t)buff_to_uint16(_msg.payload[idx], _msg.payload[idx+1]);
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const float angle_deg = wrap_360((point_start_index + i) * angle_inc_deg * angle_sign + angle_correction);
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const uint8_t sector = convert_angle_to_sector(angle_deg);
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// if we've entered a new sector then finish off previous sector
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if (sector != _last_sector) {
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// update boundary used for avoidance
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if (_last_sector != UINT8_MAX) {
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update_boundary_for_sector(_last_sector, false);
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}
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// init for new sector
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_last_sector = sector;
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_distance[sector] = INT16_MAX;
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_distance_valid[sector] = false;
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}
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// check reading is not within an ignore zone
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if (!ignore_reading(angle_deg)) {
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// check distance reading is valid
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if ((dist_cm >= dist_min_cm) && (dist_cm <= dist_max_cm)) {
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const float dist_m = dist_cm * 0.01f;
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// update shortest distance for this sector
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if (dist_m < _distance[sector]) {
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_angle[sector] = angle_deg;
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_distance[sector] = dist_m;
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_distance_valid[sector] = true;
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}
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// calculate shortest of last few readings
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if (dist_m < combined_dist_m) {
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combined_dist_m = dist_m;
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combined_angle_deg = angle_deg;
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}
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combined_count++;
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}
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}
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// send combined distance to object database
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if ((i+1 >= point_count) || (combined_count >= PROXIMITY_SF40C_COMBINE_READINGS)) {
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if ((combined_dist_m < INT16_MAX) && database_ready) {
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database_push(combined_angle_deg, combined_dist_m, _last_distance_received_ms, current_loc, current_heading);
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}
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combined_count = 0;
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combined_dist_m = INT16_MAX;
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}
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}
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break;
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}
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case MessageID::MOTOR_STATE:
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if (_msg.payload_recv == 1) {
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_sensor_state.motor_state = (MotorState)_msg.payload[0];
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}
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break;
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case MessageID::OUTPUT_RATE:
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if (_msg.payload_recv == 1) {
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_sensor_state.output_rate = _msg.payload[0];
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}
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break;
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// unsupported messages
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case MessageID::PRODUCT_NAME:
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case MessageID::HARDWARE_VERSION:
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case MessageID::FIRMWARE_VERSION:
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case MessageID::SERIAL_NUMBER:
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case MessageID::TEXT_MESSAGE:
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case MessageID::USER_DATA:
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case MessageID::SAVE_PARAMETERS:
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case MessageID::STAGE_FIRMWARE:
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case MessageID::COMMIT_FIRMWARE:
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case MessageID::INCOMING_VOLTAGE:
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case MessageID::LASER_FIRING:
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case MessageID::TEMPERATURE:
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case MessageID::BAUD_RATE:
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case MessageID::DISTANCE:
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case MessageID::MOTOR_VOLTAGE:
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case MessageID::FORWARD_OFFSET:
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case MessageID::REVOLUTIONS:
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case MessageID::ALARM_STATE:
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case MessageID::ALARM1:
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case MessageID::ALARM2:
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case MessageID::ALARM3:
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case MessageID::ALARM4:
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case MessageID::ALARM5:
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case MessageID::ALARM6:
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case MessageID::ALARM7:
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break;
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}
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}
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// convert buffer to uint32, uint16
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uint32_t AP_Proximity_LightWareSF40C::buff_to_uint32(uint8_t b0, uint8_t b1, uint8_t b2, uint8_t b3) const
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{
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uint32_t leval = (uint32_t)b0 | (uint32_t)b1 << 8 | (uint32_t)b2 << 16 | (uint32_t)b3 << 24;
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return leval;
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}
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uint16_t AP_Proximity_LightWareSF40C::buff_to_uint16(uint8_t b0, uint8_t b1) const
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{
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uint16_t leval = (uint16_t)b0 | (uint16_t)b1 << 8;
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return leval;
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}
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