mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 15:18:28 -04:00
75 lines
2.5 KiB
C++
75 lines
2.5 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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/*
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* ArduPilot device driver for Inno-Maker LD06 LiDAR
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*
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* ALL INFORMATION REGARDING PROTOCOL WAS DERIVED FROM LD06 DATASHEET:
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*
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* http://wiki.inno-maker.com/display/HOMEPAGE/LD06?preview=/6949506/6949511/LDROBOT_LD06_Development%20manual_v1.0_en.pdf
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*
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* Author: Adithya Patil, Georgia Institute of Technology
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* Based on the SLAMTEC RPLiDAR code written by Steven Josefs, IAV GmbH
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*
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*/
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#pragma once
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#include "AP_Proximity_config.h"
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#if AP_PROXIMITY_LD06_ENABLED
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#include "AP_Proximity_Backend_Serial.h"
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#define MESSAGE_LENGTH_LD06 47
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// Minimum and maximum distance that the sensor can read in meters
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#define MAX_READ_DISTANCE_LD06 12.0f
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#define MIN_READ_DISTANCE_LD06 0.02f
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class AP_Proximity_LD06 : public AP_Proximity_Backend_Serial
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{
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public:
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using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
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// Update the state of the sensor
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void update(void) override;
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// Get the max and min distances for the sensor being used
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float distance_max() const override { return MAX_READ_DISTANCE_LD06; }
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float distance_min() const override { return MIN_READ_DISTANCE_LD06; }
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private:
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// Get and parse the sensor data
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void parse_response_data();
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void get_readings();
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// Store and keep track of the bytes being read from the sensor
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uint8_t _response[MESSAGE_LENGTH_LD06];
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uint16_t _byte_count;
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// Store for error-tracking purposes
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uint32_t _last_distance_received_ms;
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// face related variables
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AP_Proximity_Boundary_3D::Face _last_face;///< last face requested
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float _last_angle_deg; ///< yaw angle (in degrees) of _last_distance_m
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float _last_distance_m; ///< shortest distance for _last_face
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bool _last_distance_valid; ///< true if _last_distance_m is valid
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uint16_t _angle_2deg;
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float _dist_2deg_m;
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};
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#endif // AP_PROXIMITY_LD06_ENABLED
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