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AP_RangeFinder: Parse signal strength and status for TOFSenseFI2c

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This commit is contained in:
rishabsingh3003 2023-10-15 00:28:03 -04:00 committed by Peter Barker
parent 9a02967e3d
commit de61ac3055
2 changed files with 45 additions and 28 deletions
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60
libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseF_I2C.cpp
View File

@ -17,6 +17,9 @@
#if AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
#define TOFSENSEP_I2C_COMMAND_TAKE_RANGE_READING 0x24
#define TOFSENSEP_I2C_COMMAND_SIGNAL_STATUS 0x28
#include <utility>
#include <AP_HAL/AP_HAL.h>
@ -49,7 +52,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_TOFSenseF_I2C::detect(RangeFinder::RangeF
return nullptr;
}
if (!sensor->_init()) {
if (!sensor->init()) {
delete sensor;
return nullptr;
}
@ -58,7 +61,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_TOFSenseF_I2C::detect(RangeFinder::RangeF
}
// initialise sensor
bool AP_RangeFinder_TOFSenseF_I2C::_init(void)
bool AP_RangeFinder_TOFSenseF_I2C::init(void)
{
_dev->get_semaphore()->take_blocking();
@ -70,8 +73,11 @@ bool AP_RangeFinder_TOFSenseF_I2C::_init(void)
// give time for the sensor to process the request
hal.scheduler->delay(100);
uint16_t reading_cm;
if (!get_reading(reading_cm)) {
uint32_t reading_mm;
uint16_t status;
uint16_t signal_strength;
if (!get_reading(reading_mm, signal_strength, status)) {
_dev->get_semaphore()->give();
return false;
}
@ -79,7 +85,7 @@ bool AP_RangeFinder_TOFSenseF_I2C::_init(void)
_dev->get_semaphore()->give();
_dev->register_periodic_callback(100000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_TOFSenseF_I2C::_timer, void));
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_TOFSenseF_I2C::timer, void));
return true;
}
@ -87,40 +93,52 @@ bool AP_RangeFinder_TOFSenseF_I2C::_init(void)
// start_reading() - ask sensor to make a range reading
bool AP_RangeFinder_TOFSenseF_I2C::start_reading()
{
uint8_t cmd = TOFSENSEP_I2C_COMMAND_TAKE_RANGE_READING;
uint8_t cmd[] = {TOFSENSEP_I2C_COMMAND_TAKE_RANGE_READING, TOFSENSEP_I2C_COMMAND_SIGNAL_STATUS};
// send command to take reading
return _dev->transfer(&cmd, sizeof(cmd), nullptr, 0);
return _dev->transfer(cmd, sizeof(cmd), nullptr, 0);
}
// read - return last value measured by sensor
bool AP_RangeFinder_TOFSenseF_I2C::get_reading(uint16_t &reading_cm)
bool AP_RangeFinder_TOFSenseF_I2C::get_reading(uint32_t &reading_mm, uint16_t &signal_strength, uint16_t &status)
{
le32_t val;
struct PACKED {
uint32_t distance_mm;
uint32_t signal_strength_and_status;
} packet;
// take range reading and read back results
bool ret = _dev->transfer(nullptr, 0, (uint8_t *) &val, sizeof(val));
const bool ret = _dev->transfer(nullptr, 0, (uint8_t *) &packet, sizeof(packet));
if (ret) {
// combine results into distance
reading_cm = le32toh(val);
// trigger a new reading
start_reading();
reading_mm = packet.distance_mm;
signal_strength = (uint16_t)(packet.signal_strength_and_status >> 16);
status = (uint16_t)(packet.signal_strength_and_status);
}
// trigger a new reading
start_reading();
return ret;
}
// timer called at 10Hz
void AP_RangeFinder_TOFSenseF_I2C::_timer(void)
void AP_RangeFinder_TOFSenseF_I2C::timer(void)
{
uint16_t d;
if (get_reading(d)) {
uint32_t dist_mm;
uint16_t status;
uint16_t signal_strength;
if (get_reading(dist_mm, signal_strength, status)) {
WITH_SEMAPHORE(_sem);
distance = d;
new_distance = true;
state.last_reading_ms = AP_HAL::millis();
if (status == 1) {
// healthy data
distance_mm = dist_mm;
new_distance = true;
state.last_reading_ms = AP_HAL::millis();
}
}
}
@ -129,7 +147,7 @@ void AP_RangeFinder_TOFSenseF_I2C::update(void)
{
WITH_SEMAPHORE(_sem);
if (new_distance) {
state.distance_m = distance * 0.01f;
state.distance_m = distance_mm * 0.001f;
new_distance = false;
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 300) {

13
libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseF_I2C.h
View File

@ -10,7 +10,6 @@
#include <AP_HAL/I2CDevice.h>
#define TOFSENSEP_I2C_DEFAULT_ADDR 0x08
#define TOFSENSEP_I2C_COMMAND_TAKE_RANGE_READING 0x24
class AP_RangeFinder_TOFSenseF_I2C : public AP_RangeFinder_Backend
{
@ -35,15 +34,15 @@ private:
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
bool _init(void);
void _timer(void);
bool init(void);
void timer(void);
uint16_t distance;
bool new_distance;
uint32_t distance_mm;
bool new_distance; // true if we have a new distance
// start a reading
// get a reading
bool start_reading(void);
bool get_reading(uint16_t &reading_cm);
bool get_reading(uint32_t &reading_mm, uint16_t &signal_strength, uint16_t &status);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};