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ardupilot/libraries/AP_RangeFinder/AP_RangeFinder.cpp

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/*
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_RangeFinder.h"
#include "AP_RangeFinder_analog.h"
#include "AP_RangeFinder_PulsedLightLRF.h"
#include "AP_RangeFinder_MaxsonarI2CXL.h"
#include "AP_RangeFinder_MaxsonarSerialLV.h"
#include "AP_RangeFinder_BBB_PRU.h"
#include "AP_RangeFinder_LightWareI2C.h"
#include "AP_RangeFinder_LightWareSerial.h"
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && \
defined(HAVE_LIBIIO)
#include "AP_RangeFinder_Bebop.h"
#endif
#include "AP_RangeFinder_Backend.h"
#include "AP_RangeFinder_Backend_Serial.h"
#include "AP_RangeFinder_MAVLink.h"
#include "AP_RangeFinder_LeddarOne.h"
#include "AP_RangeFinder_USD1_Serial.h"
#include "AP_RangeFinder_TeraRangerI2C.h"
#include "AP_RangeFinder_TeraRanger_Serial.h"
#include "AP_RangeFinder_VL53L0X.h"
#include "AP_RangeFinder_VL53L1X.h"
#include "AP_RangeFinder_NMEA.h"
#include "AP_RangeFinder_Wasp.h"
#include "AP_RangeFinder_Benewake_TF02.h"
#include "AP_RangeFinder_Benewake_TF03.h"
#include "AP_RangeFinder_Benewake_TFMini.h"
#include "AP_RangeFinder_Benewake_TFMiniPlus.h"
#include "AP_RangeFinder_PWM.h"
#include "AP_RangeFinder_GYUS42v2.h"
#include "AP_RangeFinder_HC_SR04.h"
#include "AP_RangeFinder_Bebop.h"
#include "AP_RangeFinder_BLPing.h"
#include "AP_RangeFinder_DroneCAN.h"
#include "AP_RangeFinder_Lanbao.h"
#include "AP_RangeFinder_LeddarVu8.h"
#include "AP_RangeFinder_SITL.h"
#include "AP_RangeFinder_MSP.h"
#include "AP_RangeFinder_USD1_CAN.h"
#include "AP_RangeFinder_Benewake_CAN.h"
#include "AP_RangeFinder_Lua.h"
#include "AP_RangeFinder_NoopLoop.h"
#include "AP_RangeFinder_TOFSenseP_CAN.h"
#include "AP_RangeFinder_NRA24_CAN.h"
#include "AP_RangeFinder_TOFSenseF_I2C.h"
#include "AP_RangeFinder_JRE_Serial.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_InternalError/AP_InternalError.h>
extern const AP_HAL::HAL &hal;
// table of user settable parameters
const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Group: 1_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[0], "1_", 25, RangeFinder, AP_RangeFinder_Params),
// @Group: 1_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[0], "1_", 57, RangeFinder, backend_var_info[0]),
#if RANGEFINDER_MAX_INSTANCES > 1
// @Group: 2_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[1], "2_", 27, RangeFinder, AP_RangeFinder_Params),
// @Group: 2_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[1], "2_", 58, RangeFinder, backend_var_info[1]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 2
// @Group: 3_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[2], "3_", 29, RangeFinder, AP_RangeFinder_Params),
// @Group: 3_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[2], "3_", 59, RangeFinder, backend_var_info[2]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 3
// @Group: 4_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[3], "4_", 31, RangeFinder, AP_RangeFinder_Params),
// @Group: 4_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[3], "4_", 60, RangeFinder, backend_var_info[3]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 4
// @Group: 5_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[4], "5_", 33, RangeFinder, AP_RangeFinder_Params),
// @Group: 5_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[4], "5_", 34, RangeFinder, backend_var_info[4]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 5
// @Group: 6_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[5], "6_", 35, RangeFinder, AP_RangeFinder_Params),
// @Group: 6_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[5], "6_", 36, RangeFinder, backend_var_info[5]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 6
// @Group: 7_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[6], "7_", 37, RangeFinder, AP_RangeFinder_Params),
// @Group: 7_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[6], "7_", 38, RangeFinder, backend_var_info[6]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 7
// @Group: 8_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[7], "8_", 39, RangeFinder, AP_RangeFinder_Params),
// @Group: 8_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[7], "8_", 40, RangeFinder, backend_var_info[7]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 8
// @Group: 9_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[8], "9_", 41, RangeFinder, AP_RangeFinder_Params),
// @Group: 9_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[8], "9_", 42, RangeFinder, backend_var_info[8]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 9
// @Group: A_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[9], "A_", 43, RangeFinder, AP_RangeFinder_Params),
// @Group: A_
// @Path: AP_RangeFinder_Wasp.cpp,AP_RangeFinder_Backend_CAN.cpp
AP_SUBGROUPVARPTR(drivers[9], "A_", 44, RangeFinder, backend_var_info[9]),
#endif
AP_GROUPEND
};
const AP_Param::GroupInfo *RangeFinder::backend_var_info[RANGEFINDER_MAX_INSTANCES];
RangeFinder::RangeFinder()
{
AP_Param::setup_object_defaults(this, var_info);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) {
AP_HAL::panic("Rangefinder must be singleton");
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
_singleton = this;
}
/*
initialise the RangeFinder class. We do detection of attached range
finders here. For now we won't allow for hot-plugging of
rangefinders.
*/
void RangeFinder::init(enum Rotation orientation_default)
{
if (num_instances != 0) {
// don't re-init if we've found some sensors already
return;
}
// set orientation defaults
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
params[i].orientation.set_default(orientation_default);
}
for (uint8_t i=0, serial_instance = 0; i<RANGEFINDER_MAX_INSTANCES; i++) {
// serial_instance will be increased inside detect_instance
// if a serial driver is loaded for this instance
WITH_SEMAPHORE(detect_sem);
detect_instance(i, serial_instance);
if (drivers[i] != nullptr) {
// we loaded a driver for this instance, so it must be
// present (although it may not be healthy). We use MAX()
// here as a UAVCAN rangefinder may already have been
// found
num_instances = MAX(num_instances, i+1);
}
// initialise status
state[i].status = Status::NotConnected;
state[i].range_valid_count = 0;
// initialize signal_quality_pct for drivers that don't handle it.
state[i].signal_quality_pct = SIGNAL_QUALITY_UNKNOWN;
}
}
/*
update RangeFinder state for all instances. This should be called at
around 10Hz by main loop
*/
void RangeFinder::update(void)
{
for (uint8_t i=0; i<num_instances; i++) {
if (drivers[i] != nullptr) {
if ((Type)params[i].type.get() == Type::NONE) {
// allow user to disable a rangefinder at runtime
state[i].status = Status::NotConnected;
state[i].range_valid_count = 0;
continue;
}
drivers[i]->update();
}
}
#if HAL_LOGGING_ENABLED
Log_RFND();
#endif
}
bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend, uint8_t instance, uint8_t serial_instance)
{
if (!backend) {
return false;
}
if (instance >= RANGEFINDER_MAX_INSTANCES) {
AP_HAL::panic("Too many RANGERS backends");
}
if (drivers[instance] != nullptr) {
// we've allocated the same instance twice
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
backend->init_serial(serial_instance);
drivers[instance] = backend;
num_instances = MAX(num_instances, instance+1);
return true;
}
/*
detect if an instance of a rangefinder is connected.
*/
void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
{
#if AP_RANGEFINDER_ENABLED
AP_RangeFinder_Backend_Serial *(*serial_create_fn)(RangeFinder::RangeFinder_State&, AP_RangeFinder_Params&) = nullptr;
const Type _type = (Type)params[instance].type.get();
switch (_type) {
#if AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
case Type::PLI2C:
case Type::PLI2CV3:
case Type::PLI2CV3HP:
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_PulsedLightLRF::detect(i, state[instance], params[instance], _type),
instance)) {
break;
}
}
break;
#endif
#if AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
case Type::MBI2C: {
uint8_t addr = AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR;
if (params[instance].address != 0) {
addr = params[instance].address;
}
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, addr)),
instance)) {
break;
}
}
break;
}
#endif
#if AP_RANGEFINDER_LWI2C_ENABLED
case Type::LWI2C:
if (params[instance].address) {
// the LW20 needs a long time to boot up, so we delay 1.5s here
#ifndef HAL_BUILD_AP_PERIPH
if (!hal.util->was_watchdog_armed()) {
hal.scheduler->delay(1500);
}
#endif
#ifdef HAL_RANGEFINDER_LIGHTWARE_I2C_BUS
_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, params[instance].address)),
instance);
#else
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address)),
instance)) {
break;
}
}
#endif
}
break;
#endif // AP_RANGEFINDER_LWI2C_ENABLED
#if AP_RANGEFINDER_TRI2C_ENABLED
case Type::TRI2C:
if (params[instance].address) {
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_TeraRangerI2C::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address)),
instance)) {
break;
}
}
}
break;
#endif
case Type::VL53L0X:
case Type::VL53L1X_Short:
FOREACH_I2C(i) {
#if AP_RANGEFINDER_VL53L0X_ENABLED
if (_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address)),
instance)) {
break;
}
#endif
#if AP_RANGEFINDER_VL53L1X_ENABLED
if (_add_backend(AP_RangeFinder_VL53L1X::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address),
_type == Type::VL53L1X_Short ? AP_RangeFinder_VL53L1X::DistanceMode::Short :
AP_RangeFinder_VL53L1X::DistanceMode::Long),
instance)) {
break;
}
#endif
}
break;
#if AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
case Type::BenewakeTFminiPlus: {
uint8_t addr = TFMINIPLUS_ADDR_DEFAULT;
if (params[instance].address != 0) {
addr = params[instance].address;
}
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_Benewake_TFMiniPlus::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, addr)),
instance)) {
break;
}
}
break;
}
#endif
#if AP_RANGEFINDER_PWM_ENABLED
case Type::PX4_PWM:
// to ease moving from PX4 to ChibiOS we'll lie a little about
// the backend driver...
if (AP_RangeFinder_PWM::detect()) {
_add_backend(new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height), instance);
}
break;
#endif
#if AP_RANGEFINDER_BBB_PRU_ENABLED
case Type::BBB_PRU:
if (AP_RangeFinder_BBB_PRU::detect()) {
_add_backend(new AP_RangeFinder_BBB_PRU(state[instance], params[instance]), instance);
}
break;
#endif
#if AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
case Type::LWSER:
serial_create_fn = AP_RangeFinder_LightWareSerial::create;
break;
#endif
#if AP_RANGEFINDER_LEDDARONE_ENABLED
case Type::LEDDARONE:
serial_create_fn = AP_RangeFinder_LeddarOne::create;
break;
#endif
#if AP_RANGEFINDER_USD1_SERIAL_ENABLED
case Type::USD1_Serial:
serial_create_fn = AP_RangeFinder_USD1_Serial::create;
break;
#endif
#if AP_RANGEFINDER_BEBOP_ENABLED
case Type::BEBOP:
if (AP_RangeFinder_Bebop::detect()) {
_add_backend(new AP_RangeFinder_Bebop(state[instance], params[instance]), instance);
}
break;
#endif
#if AP_RANGEFINDER_MAVLINK_ENABLED
case Type::MAVLink:
if (AP_RangeFinder_MAVLink::detect()) {
_add_backend(new AP_RangeFinder_MAVLink(state[instance], params[instance]), instance);
}
break;
#endif
#if AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
case Type::MBSER:
serial_create_fn = AP_RangeFinder_MaxsonarSerialLV::create;
break;
#endif
#if AP_RANGEFINDER_ANALOG_ENABLED
case Type::ANALOG:
// note that analog will always come back as present if the pin is valid
if (AP_RangeFinder_analog::detect(params[instance])) {
_add_backend(new AP_RangeFinder_analog(state[instance], params[instance]), instance);
}
break;
#endif
#if AP_RANGEFINDER_HC_SR04_ENABLED
case Type::HC_SR04:
// note that this will always come back as present if the pin is valid
if (AP_RangeFinder_HC_SR04::detect(params[instance])) {
_add_backend(new AP_RangeFinder_HC_SR04(state[instance], params[instance]), instance);
}
break;
#endif
#if AP_RANGEFINDER_NMEA_ENABLED
case Type::NMEA:
serial_create_fn = AP_RangeFinder_NMEA::create;
break;
#endif
#if AP_RANGEFINDER_WASP_ENABLED
case Type::WASP:
serial_create_fn = AP_RangeFinder_Wasp::create;
break;
#endif
#if AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
case Type::BenewakeTF02:
serial_create_fn = AP_RangeFinder_Benewake_TF02::create;
break;
#endif
#if AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED
case Type::BenewakeTFmini:
serial_create_fn = AP_RangeFinder_Benewake_TFMini::create;
break;
#endif
#if AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
case Type::BenewakeTF03:
serial_create_fn = AP_RangeFinder_Benewake_TF03::create;
break;
#endif
#if AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED
case Type::TeraRanger_Serial:
serial_create_fn = AP_RangeFinder_TeraRanger_Serial::create;
break;
#endif
#if AP_RANGEFINDER_PWM_ENABLED
case Type::PWM:
if (AP_RangeFinder_PWM::detect()) {
_add_backend(new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height), instance);
}
break;
#endif
#if AP_RANGEFINDER_BLPING_ENABLED
case Type::BLPing:
serial_create_fn = AP_RangeFinder_BLPing::create;
break;
#endif
#if AP_RANGEFINDER_LANBAO_ENABLED
case Type::Lanbao:
serial_create_fn = AP_RangeFinder_Lanbao::create;
break;
#endif
#if AP_RANGEFINDER_LEDDARVU8_ENABLED
case Type::LeddarVu8_Serial:
serial_create_fn = AP_RangeFinder_LeddarVu8::create;
break;
#endif
#if AP_RANGEFINDER_DRONECAN_ENABLED
case Type::UAVCAN:
/*
the UAVCAN driver gets created when we first receive a
measurement. We take the instance slot now, even if we don't
yet have the driver
*/
num_instances = MAX(num_instances, instance+1);
break;
#endif
#if AP_RANGEFINDER_GYUS42V2_ENABLED
case Type::GYUS42v2:
serial_create_fn = AP_RangeFinder_GYUS42v2::create;
break;
#endif
#if AP_RANGEFINDER_SIM_ENABLED
case Type::SIM:
_add_backend(new AP_RangeFinder_SITL(state[instance], params[instance], instance), instance);
break;
#endif
#if HAL_MSP_RANGEFINDER_ENABLED
case Type::MSP:
if (AP_RangeFinder_MSP::detect()) {
_add_backend(new AP_RangeFinder_MSP(state[instance], params[instance]), instance);
}
break;
#endif // HAL_MSP_RANGEFINDER_ENABLED
#if AP_RANGEFINDER_USD1_CAN_ENABLED
case Type::USD1_CAN:
_add_backend(new AP_RangeFinder_USD1_CAN(state[instance], params[instance]), instance);
break;
#endif
#if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
case Type::Benewake_CAN:
_add_backend(new AP_RangeFinder_Benewake_CAN(state[instance], params[instance]), instance);
break;
#endif
#if AP_RANGEFINDER_LUA_ENABLED
case Type::Lua_Scripting:
_add_backend(new AP_RangeFinder_Lua(state[instance], params[instance]), instance);
break;
#endif
#if AP_RANGEFINDER_NOOPLOOP_ENABLED
case Type::NoopLoop_P:
serial_create_fn = AP_RangeFinder_NoopLoop::create;
break;
#endif
#if AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
case Type::TOFSenseP_CAN:
_add_backend(new AP_RangeFinder_TOFSenseP_CAN(state[instance], params[instance]), instance);
break;
#endif
#if AP_RANGEFINDER_NRA24_CAN_ENABLED
case Type::NRA24_CAN:
_add_backend(new AP_RangeFinder_NRA24_CAN(state[instance], params[instance]), instance);
break;
#endif
#if AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
case Type::TOFSenseF_I2C: {
uint8_t addr = TOFSENSEP_I2C_DEFAULT_ADDR;
if (params[instance].address != 0) {
addr = params[instance].address;
}
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_TOFSenseF_I2C::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, addr)),
instance)) {
break;
}
}
break;
}
#endif
#if AP_RANGEFINDER_JRE_SERIAL_ENABLED
case Type::JRE_Serial:
serial_create_fn = AP_RangeFinder_JRE_Serial::create;
break;
#endif
case Type::NONE:
break;
}
if (serial_create_fn != nullptr) {
if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance)) {
auto *b = serial_create_fn(state[instance], params[instance]);
if (b != nullptr) {
_add_backend(b, instance, serial_instance++);
}
}
}
// if the backend has some local parameters then make those available in the tree
if (drivers[instance] && state[instance].var_info) {
backend_var_info[instance] = state[instance].var_info;
AP_Param::load_object_from_eeprom(drivers[instance], backend_var_info[instance]);
// param count could have changed
AP_Param::invalidate_count();
}
#endif //AP_RANGEFINDER_ENABLED
}
AP_RangeFinder_Backend *RangeFinder::get_backend(uint8_t id) const {
if (id >= num_instances) {
return nullptr;
}
if (drivers[id] != nullptr) {
if (drivers[id]->type() == Type::NONE) {
// pretend it isn't here; disabled at runtime?
return nullptr;
}
}
return drivers[id];
};
RangeFinder::Status RangeFinder::status_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return Status::NotConnected;
}
return backend->status();
}
void RangeFinder::handle_msg(const mavlink_message_t &msg)
{
uint8_t i;
for (i=0; i<num_instances; i++) {
if ((drivers[i] != nullptr) && ((Type)params[i].type.get() != Type::NONE)) {
drivers[i]->handle_msg(msg);
}
}
}
#if HAL_MSP_RANGEFINDER_ENABLED
void RangeFinder::handle_msp(const MSP::msp_rangefinder_data_message_t &pkt)
{
uint8_t i;
for (i=0; i<num_instances; i++) {
if ((drivers[i] != nullptr) && ((Type)params[i].type.get() == Type::MSP)) {
drivers[i]->handle_msp(pkt);
}
}
}
#endif // HAL_MSP_RANGEFINDER_ENABLED
// return true if we have a range finder with the specified orientation
bool RangeFinder::has_orientation(enum Rotation orientation) const
{
return (find_instance(orientation) != nullptr);
}
// find first range finder instance with the specified orientation
AP_RangeFinder_Backend *RangeFinder::find_instance(enum Rotation orientation) const
{
// first try for a rangefinder that is in range
for (uint8_t i=0; i<num_instances; i++) {
AP_RangeFinder_Backend *backend = get_backend(i);
if (backend != nullptr &&
backend->orientation() == orientation &&
backend->status() == Status::Good) {
return backend;
}
}
// if none in range then return first with correct orientation
for (uint8_t i=0; i<num_instances; i++) {
AP_RangeFinder_Backend *backend = get_backend(i);
if (backend != nullptr &&
backend->orientation() == orientation) {
return backend;
}
}
return nullptr;
}
float RangeFinder::distance_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->distance();
}
uint16_t RangeFinder::distance_cm_orient(enum Rotation orientation) const
{
return distance_orient(orientation) * 100.0;
}
int8_t RangeFinder::signal_quality_pct_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return RangeFinder::SIGNAL_QUALITY_UNKNOWN;
}
return backend->signal_quality_pct();
}
int16_t RangeFinder::max_distance_cm_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->max_distance_cm();
}
int16_t RangeFinder::min_distance_cm_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->min_distance_cm();
}
int16_t RangeFinder::ground_clearance_cm_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->ground_clearance_cm();
}
bool RangeFinder::has_data_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return false;
}
return backend->has_data();
}
uint8_t RangeFinder::range_valid_count_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->range_valid_count();
}
const Vector3f &RangeFinder::get_pos_offset_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return pos_offset_zero;
}
return backend->get_pos_offset();
}
uint32_t RangeFinder::last_reading_ms(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->last_reading_ms();
}
MAV_DISTANCE_SENSOR RangeFinder::get_mav_distance_sensor_type_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return MAV_DISTANCE_SENSOR_UNKNOWN;
}
return backend->get_mav_distance_sensor_type();
}
// get temperature reading in C. returns true on success and populates temp argument
bool RangeFinder::get_temp(enum Rotation orientation, float &temp) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return false;
}
return backend->get_temp(temp);
}
// Write an RFND (rangefinder) packet
void RangeFinder::Log_RFND() const
{
if (_log_rfnd_bit == uint32_t(-1)) {
return;
}
AP_Logger &logger = AP::logger();
if (!logger.should_log(_log_rfnd_bit)) {
return;
}
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
const AP_RangeFinder_Backend *s = get_backend(i);
if (s == nullptr) {
continue;
}
const struct log_RFND pkt = {
LOG_PACKET_HEADER_INIT(LOG_RFND_MSG),
time_us : AP_HAL::micros64(),
instance : i,
dist : s->distance_cm(),
status : (uint8_t)s->status(),
orient : s->orientation(),
quality : s->signal_quality_pct(),
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
}
bool RangeFinder::prearm_healthy(char *failure_msg, const uint8_t failure_msg_len) const
{
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++) {
if ((Type)params[i].type.get() == Type::NONE) {
continue;
}
if (drivers[i] == nullptr) {
hal.util->snprintf(failure_msg, failure_msg_len, "Rangefinder %X: Not Detected", i + 1);
return false;
}
// backend-specific checks. This might end up drivers[i]->arming_checks(...).
switch (drivers[i]->allocated_type()) {
#if AP_RANGEFINDER_ANALOG_ENABLED || AP_RANGEFINDER_PWM_ENABLED
#if AP_RANGEFINDER_ANALOG_ENABLED
case Type::ANALOG:
#endif
#if AP_RANGEFINDER_PWM_ENABLED
case Type::PX4_PWM:
case Type::PWM:
#endif
{
// ensure pin is configured
if (params[i].pin == -1) {
hal.util->snprintf(failure_msg, failure_msg_len, "RNGFND%u_PIN not set", unsigned(i + 1));
return false;
}
#if AP_RANGEFINDER_ANALOG_ENABLED
if (drivers[i]->allocated_type() == Type::ANALOG) {
// Analog backend does not use GPIO pin
break;
}
#endif
// ensure that the pin we're configured to use is available
if (!hal.gpio->valid_pin(params[i].pin)) {
uint8_t servo_ch;
if (hal.gpio->pin_to_servo_channel(params[i].pin, servo_ch)) {
hal.util->snprintf(failure_msg, failure_msg_len, "RNGFND%u_PIN=%d, set SERVO%u_FUNCTION=-1", unsigned(i + 1), int(params[i].pin.get()), unsigned(servo_ch+1));
} else {
hal.util->snprintf(failure_msg, failure_msg_len, "RNGFND%u_PIN=%d invalid", unsigned(i + 1), int(params[i].pin.get()));
}
return false;
}
break;
}
#endif // AP_RANGEFINDER_ANALOG_ENABLED || AP_RANGEFINDER_PWM_ENABLED
#if AP_RANGEFINDER_NRA24_CAN_ENABLED
case Type::NRA24_CAN: {
if (drivers[i]->status() == Status::NoData) {
// This sensor stops sending data if there is no relative motion. This will mostly happen during takeoff, before arming
// To avoid pre-arm failure, return true even though there is no data.
// This sensor also sends a "heartbeat" so we can differentiate between "NoData" and "NotConnected"
return true;
}
break;
}
#endif
default:
break;
}
switch (drivers[i]->status()) {
case Status::NoData:
hal.util->snprintf(failure_msg, failure_msg_len, "Rangefinder %X: No Data", i + 1);
return false;
case Status::NotConnected:
hal.util->snprintf(failure_msg, failure_msg_len, "Rangefinder %X: Not Connected", i + 1);
return false;
case Status::OutOfRangeLow:
case Status::OutOfRangeHigh:
case Status::Good:
break;
}
}
return true;
}
RangeFinder *RangeFinder::_singleton;
namespace AP {
RangeFinder *rangefinder()
{
return RangeFinder::get_singleton();
}
}
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