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AP_Rangefinder: rename trone to TeraRangerI2C

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This commit is contained in:
Mateusz Sadowski 2017-07-28 14:46:52 +02:00 committed by Francisco Ferreira
parent b6076bcb77
commit 0993300506
4 changed files with 30 additions and 30 deletions
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38
libraries/AP_RangeFinder/AP_RangeFinder_trone.cpp → libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
View File

@ -13,9 +13,9 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
driver for trone rangefinder
driver for TeraRanger I2C rangefinders
*/
#include "AP_RangeFinder_trone.h"
#include "AP_RangeFinder_TeraRangerI2C.h"
#include <utility>
#include <AP_HAL/AP_HAL.h>
@ -26,30 +26,30 @@ extern const AP_HAL::HAL& hal;
#define TRONE_I2C_ADDR 0x30
// registers
#define TRONE_MEASURE 0x00
#define TRONE_WHOAMI 0x01
#define TRONE_WHOAMI_VALUE 0xA1
#define TR_MEASURE 0x00
#define TR_WHOAMI 0x01
#define TR_WHOAMI_VALUE 0xA1
/*
The constructor also initializes the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_trone::AP_RangeFinder_trone(uint8_t bus, RangeFinder::RangeFinder_State &_state)
AP_RangeFinder_TeraRangerI2C::AP_RangeFinder_TeraRangerI2C(uint8_t bus, RangeFinder::RangeFinder_State &_state)
: AP_RangeFinder_Backend(_state)
, dev(hal.i2c_mgr->get_device(bus, TRONE_I2C_ADDR))
{
}
/*
detect if a trone rangefinder is connected. We'll detect by
detect if a TeraRanger rangefinder is connected. We'll detect by
trying to take a reading on I2C. If we get a result the sensor is
there.
*/
AP_RangeFinder_Backend *AP_RangeFinder_trone::detect(uint8_t bus,
RangeFinder::RangeFinder_State &_state)
AP_RangeFinder_Backend *AP_RangeFinder_TeraRangerI2C::detect(uint8_t bus,
RangeFinder::RangeFinder_State &_state)
{
AP_RangeFinder_trone *sensor = new AP_RangeFinder_trone(bus, _state);
AP_RangeFinder_TeraRangerI2C *sensor = new AP_RangeFinder_TeraRangerI2C(bus, _state);
if (!sensor) {
return nullptr;
}
@ -65,7 +65,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_trone::detect(uint8_t bus,
/*
initialise sensor
*/
bool AP_RangeFinder_trone::init(void)
bool AP_RangeFinder_TeraRangerI2C::init(void)
{
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
@ -75,8 +75,8 @@ bool AP_RangeFinder_trone::init(void)
// check WHOAMI
uint8_t whoami;
if (!dev->read_registers(TRONE_WHOAMI, &whoami, 1) ||
whoami != TRONE_WHOAMI_VALUE) {
if (!dev->read_registers(TR_WHOAMI, &whoami, 1) ||
whoami != TR_WHOAMI_VALUE) {
return false;
}
@ -99,20 +99,20 @@ bool AP_RangeFinder_trone::init(void)
dev->set_retries(1);
dev->register_periodic_callback(50000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_trone::timer, void));
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_TeraRangerI2C::timer, void));
return true;
}
// measure() - ask sensor to make a range reading
bool AP_RangeFinder_trone::measure()
bool AP_RangeFinder_TeraRangerI2C::measure()
{
uint8_t cmd = TRONE_MEASURE;
uint8_t cmd = TR_MEASURE;
return dev->transfer(&cmd, 1, nullptr, 0);
}
// collect - return last value measured by sensor
bool AP_RangeFinder_trone::collect(uint16_t &_distance_cm)
bool AP_RangeFinder_TeraRangerI2C::collect(uint16_t &_distance_cm)
{
uint8_t d[3];
@ -134,7 +134,7 @@ bool AP_RangeFinder_trone::collect(uint16_t &_distance_cm)
/*
timer called at 20Hz
*/
void AP_RangeFinder_trone::timer(void)
void AP_RangeFinder_TeraRangerI2C::timer(void)
{
// take a reading
uint16_t _distance_cm;
@ -152,7 +152,7 @@ void AP_RangeFinder_trone::timer(void)
/*
update the state of the sensor
*/
void AP_RangeFinder_trone::update(void)
void AP_RangeFinder_TeraRangerI2C::update(void)
{
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (accum.count > 0) {

4
libraries/AP_RangeFinder/AP_RangeFinder_trone.h → libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
View File

@ -4,7 +4,7 @@
#include "RangeFinder_Backend.h"
#include <AP_HAL/I2CDevice.h>
class AP_RangeFinder_trone : public AP_RangeFinder_Backend
class AP_RangeFinder_TeraRangerI2C : public AP_RangeFinder_Backend
{
public:
// static detection function
@ -22,7 +22,7 @@ protected:
private:
// constructor
AP_RangeFinder_trone(uint8_t bus, RangeFinder::RangeFinder_State &_state);
AP_RangeFinder_TeraRangerI2C(uint8_t bus, RangeFinder::RangeFinder_State &_state);
bool measure(void);
bool collect(uint16_t &distance_cm);

16
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -26,7 +26,7 @@
#include "AP_RangeFinder_MAVLink.h"
#include "AP_RangeFinder_LeddarOne.h"
#include "AP_RangeFinder_uLanding.h"
#include "AP_RangeFinder_trone.h"
#include "AP_RangeFinder_TeraRangerI2C.h"
#include "AP_RangeFinder_VL53L0X.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
@ -37,7 +37,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _TYPE
// @DisplayName: Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLiteV2-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TrOneI2C,15:LidarLiteV3-I2C,16:VL53L0X
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLiteV2-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X
// @User: Standard
AP_GROUPINFO("_TYPE", 0, RangeFinder, state[0].type, 0),
@ -164,7 +164,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 2_TYPE
// @DisplayName: Second Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLiteV2-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TrOneI2C,15:LidarLiteV3-I2C,16:VL53L0X
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLiteV2-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X
// @User: Advanced
AP_GROUPINFO("2_TYPE", 12, RangeFinder, state[1].type, 0),
@ -285,7 +285,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 3_TYPE
// @DisplayName: Third Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLiteV2-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TrOneI2C,15:LidarLiteV3-I2C,16:VL53L0X
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLiteV2-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X
// @User: Advanced
AP_GROUPINFO("3_TYPE", 25, RangeFinder, state[2].type, 0),
@ -406,7 +406,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 4_TYPE
// @DisplayName: Fourth Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLiteV2-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TrOneI2C,15:LidarLiteV3-I2C,16:VL53L0X
// @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLiteV2-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X
// @User: Advanced
AP_GROUPINFO("4_TYPE", 37, RangeFinder, state[3].type, 0),
@ -622,9 +622,9 @@ void RangeFinder::detect_instance(uint8_t instance)
hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, state[instance].address)));
}
break;
case RangeFinder_TYPE_TRONE:
if (!_add_backend(AP_RangeFinder_trone::detect(0, state[instance]))) {
_add_backend(AP_RangeFinder_trone::detect(1, state[instance]));
case RangeFinder_TYPE_TRI2C:
if (!_add_backend(AP_RangeFinder_TeraRangerI2C::detect(0, state[instance]))) {
_add_backend(AP_RangeFinder_TeraRangerI2C::detect(1, state[instance]));
}
break;
case RangeFinder_TYPE_VL53L0X:

2
libraries/AP_RangeFinder/RangeFinder.h
View File

@ -51,7 +51,7 @@ public:
RangeFinder_TYPE_ULANDING= 11,
RangeFinder_TYPE_LEDDARONE = 12,
RangeFinder_TYPE_MBSER = 13,
RangeFinder_TYPE_TRONE = 14,
RangeFinder_TYPE_TRI2C = 14,
RangeFinder_TYPE_PLI2CV3= 15,
RangeFinder_TYPE_VL53L0X = 16
};