mirror of https://github.com/ArduPilot/ardupilot
130 lines
4.7 KiB
C++
130 lines
4.7 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_RangeFinder_config.h"
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#if AP_RANGEFINDER_AINSTEIN_LR_D1_ENABLED
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#ifndef AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
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#define AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS 1
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#endif
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#include "AP_RangeFinder_Ainstein_LR_D1.h"
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#include <GCS_MAVLink/GCS.h>
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// get_reading - read a value from the sensor
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bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
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{
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if (uart == nullptr || uart->available() == 0) {
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return false;
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}
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bool has_data = false;
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uint32_t available = MAX(uart->available(), static_cast<unsigned int>(PACKET_SIZE*4));
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while (available >= PACKET_SIZE) {
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// ---------------
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// Sync up with the header
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const uint8_t header[] = {
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0xEB, // Header MSB
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0x90, // Header LSB
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0x00 // Device ID
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};
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for (uint8_t i = 0; i<ARRAY_SIZE(header); i++) {
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available--;
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if (uart->read() != header[i]) {
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continue;
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}
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}
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const uint8_t rest_of_packet_size = (PACKET_SIZE - ARRAY_SIZE(header));
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if (available < rest_of_packet_size) {
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return false;
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}
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// ---------------
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// header is aligned!
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// ---------------
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uint8_t buffer[rest_of_packet_size];
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available -= uart->read(buffer, ARRAY_SIZE(buffer));
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const uint8_t checksum = buffer[ARRAY_SIZE(buffer)-1]; // last byte is a checksum
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if (crc_sum_of_bytes(buffer, ARRAY_SIZE(buffer)-1) != checksum) {
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// bad Checksum
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continue;
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}
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const uint8_t malfunction_alert = buffer[1];
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reading_m = UINT16_VALUE(buffer[3], buffer[4]) * 0.01;
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const uint8_t snr = buffer[5];
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has_data = true;
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#if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
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const uint32_t now_ms = AP_HAL::millis();
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if (malfunction_alert_prev != malfunction_alert && now_ms - malfunction_alert_last_send_ms >= 1000) {
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malfunction_alert_prev = malfunction_alert;
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malfunction_alert_last_send_ms = now_ms;
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report_malfunction(malfunction_alert);
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}
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#endif
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/* From datasheet:
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Altitude measurements associated with a SNR value
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of 13dB or lower are considered erroneous.
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SNR values of 0 are considered out of maximum range (655 metres)
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The altitude measurements should not in any circumstances be used as true
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measurements independently of the corresponding SNR values.
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*/
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signal_quality_pct = (snr <= 13 || malfunction_alert != 0) ? RangeFinder::SIGNAL_QUALITY_MIN : RangeFinder::SIGNAL_QUALITY_MAX;
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if (snr <= 13) {
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has_data = false;
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if (snr == 0) {
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state.status = RangeFinder::Status::OutOfRangeHigh;
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reading_m = MAX(656, max_distance_cm() * 0.01 + 1);
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} else {
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state.status = RangeFinder::Status::NoData;
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}
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} else {
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state.status = RangeFinder::Status::Good;
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}
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}
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return has_data;
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}
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#if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
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void AP_RangeFinder_Ainstein_LR_D1::report_malfunction(const uint8_t _malfunction_alert_) {
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if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::Temperature)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Temperature alert");
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}
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if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::Voltage)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Voltage alert");
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}
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if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::IFSignalSaturation)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: IF signal saturation alert");
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}
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if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::AltitudeReading)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Altitude reading overflow alert");
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}
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}
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#endif // AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
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#endif // AP_RANGEFINDER_AINSTEIN_LR_D1_ENABLED
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