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161 lines
6.2 KiB
161 lines
6.2 KiB
5 years ago
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/*
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* Copyright (C) 2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <ctype.h>
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#include "AP_RangeFinder_NanoRadar_MR72.h"
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#define MAXSONAR_SERIAL_LV_BAUD_RATE 9600
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extern const AP_HAL::HAL &hal;
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static const uint8_t crc8_table[] = {
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
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0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
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0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
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0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
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0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
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0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
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0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
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0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
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0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
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0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
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0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
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0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
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0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
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0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
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0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
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0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
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0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
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0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
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0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
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0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
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0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
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0xfa, 0xfd, 0xf4, 0xf3};
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/*
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The constructor also initialises the rangefinder. Note that this
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constructor is not called until detect() returns true, so we
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already know that we should setup the rangefinder
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*/
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AP_RangeFinder_NanoRadar_MR72::AP_RangeFinder_NanoRadar_MR72(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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uint8_t serial_instance) : AP_RangeFinder_Backend(_state, _params)
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{
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const AP_SerialManager &serial_manager = AP::serialmanager();
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
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if (uart != nullptr)
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{
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uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
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}
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}
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/*
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detect if a MaxSonar rangefinder is connected. We'll detect by
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trying to take a reading on Serial. If we get a result the sensor is
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there.
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*/
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bool AP_RangeFinder_NanoRadar_MR72::detect(uint8_t serial_instance)
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{
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return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
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}
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// read - return last value measured by sensor
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bool AP_RangeFinder_NanoRadar_MR72::get_reading(uint16_t &reading_cm)
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{
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if (uart == nullptr)
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{
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return false;
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}
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uint8_t frameOK = 0;
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uint16_t Range = 0; //雷达实测距离
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int16_t nbytes = uart->available();
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while (nbytes-- > 0)
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{
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// uint8_t c = uart->read();
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// gcs().send_text(MAV_SEVERITY_INFO, "getc 0x%02x",c);
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if (uart->read() == Head1)
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{ //判断数据包帧头0x54
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string[0] = Head1;
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// gcs().send_text(MAV_SEVERITY_INFO, "getc 0x%02x",string[0]);
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if (uart->read() == Head2)
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{ //判断数据包帧头0X48
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string[1] = Head2;
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// gcs().send_text(MAV_SEVERITY_INFO, "getc 0x%02x",string[1]);
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for (int i = 2; i < 19; i++)
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{ //存储数据到数组
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string[i] = uart->read();
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// gcs().send_text(MAV_SEVERITY_INFO, "%02d: 0x%02x",i,string[i]);
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}
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CheckSum = crc_crc8(string,18);
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// gcs().send_text(MAV_SEVERITY_INFO, "crc 0x%02x, rec:0x%02x",CheckSum,string[18]);
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if (string[18] == CheckSum)
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{ //按照协议对收到的数据进行校验
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frameOK = 1;
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Range = (string[2] * 256 + string[3]); //cm
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// gcs().send_text(MAV_SEVERITY_INFO, "range: %dcm",Range);
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// testdata = (string[8]*256+string[9]);
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}
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}
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}
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}
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if (frameOK == 0)
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{
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return false;
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}
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if (Range != 0)
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{
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reading_cm = Range;
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}
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return true;
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}
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/*
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update the state of the sensor
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*/
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void AP_RangeFinder_NanoRadar_MR72::update(void)
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{
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if (get_reading(state.distance_cm))
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{
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// update range_valid state based on distance measured
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state.last_reading_ms = AP_HAL::millis();
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update_status();
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}
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else if (AP_HAL::millis() - state.last_reading_ms > 500)
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{
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set_status(RangeFinder::RangeFinder_NoData);
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}
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}
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/*
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crc8 from trone driver by Luis Rodrigues
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*/
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uint8_t AP_RangeFinder_NanoRadar_MR72::crc_crc8(const uint8_t *p, uint8_t len)
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{
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uint16_t i;
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uint16_t crc = 0x0;
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while (len--)
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{
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i = (crc ^ *p++) & 0xFF;
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crc = (crc8_table[i] ^ (crc << 8)) & 0xFF;
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}
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return crc & 0xFF;
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}
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