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268 lines
6.8 KiB
268 lines
6.8 KiB
/* |
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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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Simulator for the LightWare S45B proximity sensor |
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:sf45b --speedup=1 -l 51.8752066,14.6487840,54.15,0 |
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param set SERIAL5_PROTOCOL 11 # proximity |
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param set PRX1_TYPE 8 # s45b |
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reboot |
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arm throttle |
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rc 3 1600 |
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# for avoidance: |
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param set DISARM_DELAY 0 |
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param set AVOID_ENABLE 2 # use proximity sensor |
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param set AVOID_MARGIN 2.00 # 2m |
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param set AVOID_BEHAVE 0 # slide |
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reboot |
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mode loiter |
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script /tmp/post-locations.scr |
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arm throttle |
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rc 3 1600 |
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rc 3 1500 |
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rc 2 1450 |
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*/ |
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#pragma once |
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#include "SIM_PS_LightWare.h" |
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#ifndef HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED |
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#define HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED HAL_SIM_PS_LIGHTWARE_ENABLED |
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#endif |
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#if HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED |
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#include <AP_Math/crc.h> |
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#include <AP_InternalError/AP_InternalError.h> |
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namespace SITL { |
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class PS_LightWare_SF45B : public PS_LightWare { |
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public: |
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uint32_t packet_for_location(const Location &location, |
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uint8_t *data, |
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uint8_t buflen) override; |
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void update(const Location &location) override; |
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PS_LightWare_SF45B() : PS_LightWare() { } |
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private: |
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template <typename T> |
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class PACKED PackedMessage { |
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public: |
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PackedMessage(T _msg, uint16_t _flags) : |
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msg(_msg), |
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flags(_flags) |
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{ |
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flags |= (sizeof(T)) << 6; |
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} |
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uint8_t preamble { PREAMBLE }; |
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uint16_t flags; |
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T msg; |
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uint16_t checksum; |
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uint16_t calculate_checksum(uint16_t len) const WARN_IF_UNUSED { |
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uint16_t ret = 0; |
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for (uint8_t i=0; i<len; i++) { |
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ret = crc_xmodem_update(ret, ((const char*)this)[i]); |
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} |
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return ret; |
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} |
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uint16_t calculate_checksum() const WARN_IF_UNUSED { |
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return calculate_checksum(3+sizeof(T)); |
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} |
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void update_checksum() { |
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checksum = calculate_checksum(); |
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} |
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}; |
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class PACKED MsgStream { |
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public: |
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MsgStream(uint32_t _stream) : |
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stream(_stream) |
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{ } |
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uint8_t msgid { (uint8_t)MessageID::STREAM }; |
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uint32_t stream; |
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}; |
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class PACKED DistanceOutput { |
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public: |
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DistanceOutput(uint32_t _desired_fields) : |
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desired_fields(_desired_fields) |
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{ } |
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uint8_t msgid { (uint8_t)MessageID::DISTANCE_OUTPUT }; |
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uint32_t desired_fields; |
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}; |
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class PACKED UpdateRate { |
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public: |
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UpdateRate(uint8_t _rate) : |
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rate(_rate) |
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{ } |
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uint8_t msgid { (uint8_t)MessageID::UPDATE_RATE }; |
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uint8_t rate; |
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}; |
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class PACKED DistanceDataCM { |
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public: |
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DistanceDataCM(uint16_t _distance_cm, uint16_t _angle_cd) : |
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distance_cm(_distance_cm), |
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angle_cd(_angle_cd) |
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{ } |
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uint8_t msgid { (uint8_t)MessageID::DISTANCE_DATA_CM }; |
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uint16_t distance_cm; |
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uint16_t angle_cd; |
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}; |
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// message ids |
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enum class MessageID : uint8_t { |
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// PRODUCT_NAME = 0, |
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// HARDWARE_VERSION = 1, |
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// FIRMWARE_VERSION = 2, |
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// SERIAL_NUMBER = 3, |
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// TEXT_MESSAGE = 7, |
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// USER_DATA = 9, |
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// TOKEN = 10, |
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// SAVE_PARAMETERS = 12, |
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// RESET = 14, |
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// STAGE_FIRMWARE = 16, |
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// COMMIT_FIRMWARE = 17, |
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DISTANCE_OUTPUT = 27, |
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STREAM = 30, |
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DISTANCE_DATA_CM = 44, |
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// DISTANCE_DATA_MM = 45, |
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// LASER_FIRING = 50, |
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// TEMPERATURE = 57, |
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UPDATE_RATE = 66, |
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// NOISE = 74, |
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// ZERO_OFFSET = 75, |
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// LOST_SIGNAL_COUNTER = 76, |
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// BAUD_RATE = 79, |
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// I2C_ADDRESS = 80, |
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// STEPPER_STATUS = 93, |
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// SCAN_ON_STARTUP = 94, |
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// SCAN_ENABLE = 96, |
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// SCAN_POSITION = 97, |
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// SCAN_LOW_ANGLE = 98, |
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// SCAN_HIGH_ANGLE = 99 |
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}; |
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/* |
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* Input Handling |
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*/ |
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void update_input(); |
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// make the message in the buffer a read message and return to sender |
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void boomerang_buffer_message(uint8_t len); |
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// handle a complete checksummed message |
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void handle_message(); |
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void send(const char *data, uint32_t len); |
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union u { |
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u() {} |
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char buffer[256]; // from-autopilot |
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PackedMessage<MsgStream> packed_msgstream; |
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PackedMessage<DistanceOutput> packed_distance_output; |
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PackedMessage<UpdateRate> packed_update_rate; |
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} _msg; |
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uint8_t _buflen; |
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static uint16_t checksum_bytes(const char *buffer, uint8_t len) { |
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uint16_t crc = 0; |
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for (uint8_t i=0; i<len; i++) { |
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crc = crc_xmodem_update(crc, buffer[i]); |
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} |
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return crc; |
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} |
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uint16_t msg_checksum() const { |
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// 4 is 1 preamble, 2 flags, 1 msgid |
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return checksum_bytes(_msg.buffer, payload_length() + 4); |
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} |
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uint8_t payload_length() const { |
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if (_buflen < 3) { |
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INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); |
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} |
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return (_msg.packed_msgstream.flags >> 6) - 1; |
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} |
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static const uint8_t PREAMBLE = 0xAA; |
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void move_preamble_in_buffer(uint8_t search_start_pos=0); |
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enum class InputState { |
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WANT_PREAMBLE = 45, |
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WANT_FLAGS = 46, |
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WANT_PAYLOAD = 47, |
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WANT_CRC = 48, |
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}; |
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InputState _inputstate = InputState::WANT_PREAMBLE; |
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void set_inputstate(InputState newstate) { |
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// ::fprintf(stderr, "Moving from inputstate (%u) to (%u)\n", (uint8_t)_inputstate, (uint8_t)newstate); |
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_inputstate = newstate; |
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} |
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/* |
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* SETTINGS |
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*/ |
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uint32_t stream; |
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uint32_t desired_fields; |
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uint8_t update_rate; |
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/* |
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* OUTPUT HANDLING |
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*/ |
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struct { |
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bool stream; |
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bool desired_fields; |
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bool update_rate; |
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} send_response; |
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enum class State { |
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SCANNING = 21, |
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}; |
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State _state = State::SCANNING; |
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void set_state(State newstate) { |
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// ::fprintf(stderr, "Moving from state (%u) to (%u)\n", (uint8_t)_state, (uint8_t)newstate); |
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_state = newstate; |
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} |
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void update_output(const Location &location); |
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void update_output_responses(); |
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void update_output_scan(const Location &location); |
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uint32_t last_scan_output_time_ms; |
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float last_degrees_bf; |
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}; |
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}; |
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#endif // HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED
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