mirror of https://github.com/ArduPilot/ardupilot
156 lines
4.2 KiB
C++
156 lines
4.2 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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* AP_RangeFinder_MaxsonarI2CXL.cpp - Arduino Library for MaxBotix I2C XL sonar
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* Code by Randy Mackay. DIYDrones.com
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*
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* datasheet: http://www.maxbotix.com/documents/I2CXL-MaxSonar-EZ_Datasheet.pdf
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*
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* Sensor should be connected to the I2C port
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*/
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#include "AP_RangeFinder_MaxsonarI2CXL.h"
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#include <utility>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <AP_Common/Semaphore.h>
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extern const AP_HAL::HAL& hal;
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/*
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The constructor also initializes 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_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
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: AP_RangeFinder_Backend(_state)
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, _dev(std::move(dev))
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{
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}
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/*
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detect if a Maxbotix rangefinder is connected. We'll detect by
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trying to take a reading on I2C. If we get a result the sensor is
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there.
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*/
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AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeFinder_State &_state,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
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{
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AP_RangeFinder_MaxsonarI2CXL *sensor
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= new AP_RangeFinder_MaxsonarI2CXL(_state, std::move(dev));
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if (!sensor) {
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return nullptr;
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}
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if (!sensor->_init()) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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/*
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initialise sensor
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*/
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bool AP_RangeFinder_MaxsonarI2CXL::_init(void)
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{
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if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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return false;
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}
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if (!start_reading()) {
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_dev->get_semaphore()->give();
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return false;
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}
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// give time for the sensor to process the request
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hal.scheduler->delay(100);
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uint16_t reading_cm;
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if (!get_reading(reading_cm)) {
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_dev->get_semaphore()->give();
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return false;
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}
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_dev->get_semaphore()->give();
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_dev->register_periodic_callback(100000,
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FUNCTOR_BIND_MEMBER(&AP_RangeFinder_MaxsonarI2CXL::_timer, void));
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return true;
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}
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// start_reading() - ask sensor to make a range reading
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bool AP_RangeFinder_MaxsonarI2CXL::start_reading()
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{
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uint8_t cmd = AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING;
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// send command to take reading
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return _dev->transfer(&cmd, sizeof(cmd), nullptr, 0);
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}
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// read - return last value measured by sensor
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bool AP_RangeFinder_MaxsonarI2CXL::get_reading(uint16_t &reading_cm)
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{
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be16_t val;
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// take range reading and read back results
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bool ret = _dev->transfer(nullptr, 0, (uint8_t *) &val, sizeof(val));
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if (ret) {
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// combine results into distance
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reading_cm = be16toh(val);
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// trigger a new reading
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start_reading();
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}
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return ret;
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}
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/*
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timer called at 10Hz
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*/
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void AP_RangeFinder_MaxsonarI2CXL::_timer(void)
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{
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uint16_t d;
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if (get_reading(d)) {
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WITH_SEMAPHORE(_sem);
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distance = d;
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new_distance = true;
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state.last_reading_ms = AP_HAL::millis();
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}
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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_MaxsonarI2CXL::update(void)
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{
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WITH_SEMAPHORE(_sem);
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if (new_distance) {
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state.distance_cm = distance;
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new_distance = false;
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update_status();
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} else if (AP_HAL::millis() - state.last_reading_ms > 300) {
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// if no updates for 0.3 seconds set no-data
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set_status(RangeFinder::RangeFinder_NoData);
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}
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}
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