mirror of https://github.com/ArduPilot/ardupilot
110 lines
3.7 KiB
C++
110 lines
3.7 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_HAL/AP_HAL.h>
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#include "AP_RangeFinder_LightWareSerial.h"
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <ctype.h>
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extern const AP_HAL::HAL& hal;
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/*
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The constructor also initialises the rangefinder. 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 rangefinder
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*/
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AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_SerialManager &serial_manager,
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uint8_t serial_instance) :
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AP_RangeFinder_Backend(_state, _params)
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{
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
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if (uart != nullptr) {
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uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
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}
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}
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/*
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detect if a Lightware rangefinder is connected. We'll detect by
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trying to take a reading on Serial. If we get a result the sensor is
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there.
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*/
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bool AP_RangeFinder_LightWareSerial::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
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{
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return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
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}
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// read - return last value measured by sensor
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bool AP_RangeFinder_LightWareSerial::get_reading(uint16_t &reading_cm)
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{
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if (uart == nullptr) {
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return false;
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}
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// read any available lines from the lidar
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float sum = 0;
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uint16_t count = 0;
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int16_t nbytes = uart->available();
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while (nbytes-- > 0) {
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char c = uart->read();
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if (c == '\r') {
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linebuf[linebuf_len] = 0;
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sum += (float)atof(linebuf);
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count++;
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linebuf_len = 0;
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} else if (isdigit(c) || c == '.') {
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linebuf[linebuf_len++] = c;
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if (linebuf_len == sizeof(linebuf)) {
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// too long, discard the line
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linebuf_len = 0;
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}
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}
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}
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uint32_t now = AP_HAL::millis();
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if (last_init_ms == 0 ||
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(now - last_init_ms > 1000 &&
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now - state.last_reading_ms > 1000)) {
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// send enough serial transitions to trigger LW20 into serial
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// mode. It starts in dual I2C/serial mode, and wants to see
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// enough transitions to switch into serial mode.
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uart->write("www\r\n");
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last_init_ms = now;
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} else {
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uart->write('d');
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}
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if (count == 0) {
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return false;
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}
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reading_cm = 100 * sum / count;
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return true;
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}
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/*
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update the state of the sensor
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*/
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void AP_RangeFinder_LightWareSerial::update(void)
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{
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if (get_reading(state.distance_cm)) {
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// update range_valid state based on distance measured
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state.last_reading_ms = AP_HAL::millis();
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update_status();
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} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
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set_status(RangeFinder::RangeFinder_NoData);
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}
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}
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