mirror of https://github.com/ArduPilot/ardupilot
96 lines
2.8 KiB
C++
96 lines
2.8 KiB
C++
#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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// defines
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#define LEDDARONE_DEFAULT_ADDRESS 0x01
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#define LEDDARONE_MODOBUS_FUNCTION_CODE 0x04
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#define LEDDARONE_MODOBUS_FUNCTION_REGISTER_ADDRESS 20
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#define LEDDARONE_MODOBUS_FUNCTION_READ_NUMBER 10
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#define LEDDARONE_SERIAL_PORT_MAX 250
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#define LEDDARONE_READ_BUFFER_SIZE 25
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#define LEDDARONE_DETECTIONS_MAX 3
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#define LEDDARONE_DETECTION_DATA_NUMBER_INDEX 10
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#define LEDDARONE_DETECTION_DATA_INDEX_OFFSET 11
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#define LEDDARONE_DETECTION_DATA_OFFSET 4
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// LeddarOne status
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enum LeddarOne_Status {
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LEDDARONE_STATE_OK = 0,
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LEDDARONE_STATE_READING_BUFFER = 1,
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LEDDARONE_STATE_ERR_BAD_CRC = -1,
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LEDDARONE_STATE_ERR_NO_RESPONSES = -2,
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LEDDARONE_STATE_ERR_BAD_RESPONSE = -3,
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LEDDARONE_STATE_ERR_SHORT_RESPONSE = -4,
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LEDDARONE_STATE_ERR_SERIAL_PORT = -5,
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LEDDARONE_STATE_ERR_NUMBER_DETECTIONS = -6
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};
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// LeddarOne Modbus status
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enum LeddarOne_ModbusStatus {
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LEDDARONE_MODBUS_STATE_INIT = 0,
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LEDDARONE_MODBUS_STATE_PRE_SEND_REQUEST,
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LEDDARONE_MODBUS_STATE_SENT_REQUEST,
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LEDDARONE_MODBUS_STATE_AVAILABLE
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};
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class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
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AP_SerialManager &serial_manager,
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uint8_t serial_instance);
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// static detection function
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static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
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// update state
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void update(void);
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protected:
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_LASER;
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}
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private:
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// get a reading
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bool get_reading(uint16_t &reading_cm);
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// CRC16
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bool CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck);
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// parse a response message from ModBus
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LeddarOne_Status parse_response(uint8_t &number_detections);
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AP_HAL::UARTDriver *uart = nullptr;
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uint32_t last_reading_ms;
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uint32_t last_sending_request_ms;
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uint32_t last_available_ms;
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uint16_t detections[LEDDARONE_DETECTIONS_MAX];
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uint32_t sum_distance;
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LeddarOne_ModbusStatus modbus_status = LEDDARONE_MODBUS_STATE_INIT;
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uint8_t read_buffer[LEDDARONE_READ_BUFFER_SIZE];
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uint32_t read_len;
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// Modbus send request buffer
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// read input register (function code 0x04)
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const uint8_t send_request_buffer[8] = {
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LEDDARONE_DEFAULT_ADDRESS,
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LEDDARONE_MODOBUS_FUNCTION_CODE,
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0,
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LEDDARONE_MODOBUS_FUNCTION_REGISTER_ADDRESS, // 20: Address of first register to read
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0,
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LEDDARONE_MODOBUS_FUNCTION_READ_NUMBER, // 10: The number of consecutive registers to read
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0x30, // CRC Lo
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0x09 // CRC Hi
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};
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};
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