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107 lines
3.0 KiB
107 lines
3.0 KiB
#include <AP_HAL/AP_HAL.h> |
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#include <AP_BoardConfig/AP_BoardConfig.h> |
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#include "AP_RangeFinder_Benewake_CAN.h" |
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS |
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const AP_Param::GroupInfo AP_RangeFinder_Benewake_CAN::var_info[] = { |
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// @Param: RECV_ID |
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// @DisplayName: CAN receive ID |
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// @Description: The receive ID of the CAN frames. A value of zero means all IDs are accepted. |
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// @Range: 0 65535 |
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// @User: Advanced |
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AP_GROUPINFO("RECV_ID", 10, AP_RangeFinder_Benewake_CAN, receive_id, 0), |
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// @Param: SNR_MIN |
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// @DisplayName: Minimum signal strength |
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// @Description: Minimum signal strength (SNR) to accept distance |
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// @Range: 0 65535 |
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// @User: Advanced |
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AP_GROUPINFO("SNR_MIN", 11, AP_RangeFinder_Benewake_CAN, snr_min, 0), |
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AP_GROUPEND |
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}; |
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Benewake_MultiCAN *AP_RangeFinder_Benewake_CAN::multican; |
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/* |
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constructor |
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*/ |
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AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) : |
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AP_RangeFinder_Backend(_state, _params) |
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{ |
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if (multican == nullptr) { |
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multican = new Benewake_MultiCAN(); |
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if (multican == nullptr) { |
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AP_BoardConfig::allocation_error("Benewake_CAN"); |
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} |
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} |
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{ |
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// add to linked list of drivers |
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WITH_SEMAPHORE(multican->sem); |
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auto *prev = multican->drivers; |
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next = prev; |
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multican->drivers = this; |
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} |
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AP_Param::setup_object_defaults(this, var_info); |
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state.var_info = var_info; |
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} |
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// update state |
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void AP_RangeFinder_Benewake_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 = 0.01 * (_distance_sum_cm / _distance_count); |
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state.last_reading_ms = AP_HAL::millis(); |
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_distance_sum_cm = 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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bool AP_RangeFinder_Benewake_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 id = frame.id & AP_HAL::CANFrame::MaskStdID; |
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if (receive_id != 0 && id != uint16_t(receive_id.get())) { |
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// incorrect receive ID |
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return false; |
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} |
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if (last_recv_id != -1 && id != last_recv_id) { |
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// changing ID |
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return false; |
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} |
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last_recv_id = id; |
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const uint16_t dist_cm = (frame.data[1]<<8) | frame.data[0]; |
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const uint16_t snr = (frame.data[3]<<8) | frame.data[2]; |
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if (snr_min != 0 && snr < uint16_t(snr_min.get())) { |
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// too low signal strength |
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return true; |
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} |
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_distance_sum_cm += dist_cm; |
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_distance_count++; |
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return true; |
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} |
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// handle frames from CANSensor, passing to the drivers |
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void Benewake_MultiCAN::handle_frame(AP_HAL::CANFrame &frame) |
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{ |
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WITH_SEMAPHORE(sem); |
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for (auto *d = drivers; d; d=d->next) { |
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if (d->handle_frame(frame)) { |
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break; |
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} |
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} |
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} |
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
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