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42 lines
1.2 KiB
42 lines
1.2 KiB
#include <AP_HAL/AP_HAL.h> |
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#include "AP_RangeFinder_USD1_CAN.h" |
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS |
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/* |
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constructor |
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*/ |
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AP_RangeFinder_USD1_CAN::AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) : |
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CANSensor("USD1"), |
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AP_RangeFinder_Backend(_state, _params) |
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{ |
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register_driver(AP_CANManager::Driver_Type_USD1); |
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} |
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// update state |
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void AP_RangeFinder_USD1_CAN::update(void) |
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{ |
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WITH_SEMAPHORE(_sem); |
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const uint32_t now = AP_HAL::millis(); |
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if (_distance_count == 0 && now - state.last_reading_ms > 500) { |
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// no new data. |
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set_status(RangeFinder::Status::NoData); |
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} else if (_distance_count != 0) { |
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state.distance_m = _distance_sum / _distance_count; |
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state.last_reading_ms = AP_HAL::millis(); |
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_distance_sum = 0; |
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_distance_count = 0; |
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update_status(); |
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} |
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} |
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// handler for incoming frames. These come in at 100Hz |
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void AP_RangeFinder_USD1_CAN::handle_frame(AP_HAL::CANFrame &frame) |
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{ |
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WITH_SEMAPHORE(_sem); |
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const uint16_t dist_cm = (frame.data[0]<<8) | frame.data[1]; |
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_distance_sum += dist_cm * 0.01; |
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_distance_count++; |
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} |
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
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