AP_Proximity: Add support for TeraRanger Tower Evo

libraries/AP_Proximity/AP_Proximity.cpp

@@ -17,6 +17,7 @@
 #include "AP_Proximity_LightWareSF40C.h"
 #include "AP_Proximity_RPLidarA2.h"
 #include "AP_Proximity_TeraRangerTower.h"
+#include "AP_Proximity_TeraRangerTowerEvo.h"
 #include "AP_Proximity_RangeFinder.h"
 #include "AP_Proximity_MAV.h"
 #include "AP_Proximity_SITL.h"
@@ -30,7 +31,7 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: Proximity type
     // @Description: What type of proximity sensor is connected
-    // @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2
+    // @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo
     // @RebootRequired: True
     // @User: Standard
     AP_GROUPINFO("_TYPE",   1, AP_Proximity, _type[0], 0),
@@ -150,7 +151,7 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
     // @Param: 2_TYPE
     // @DisplayName: Second Proximity type
     // @Description: What type of proximity sensor is connected
-    // @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2
+    // @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("2_TYPE", 16, AP_Proximity, _type[1], 0),
@@ -305,6 +306,13 @@ void AP_Proximity::detect_instance(uint8_t instance)
             return;
         }
     }
+    if (type == Proximity_Type_TRTOWEREVO) {
+        if (AP_Proximity_TeraRangerTowerEvo::detect(serial_manager)) {
+            state[instance].instance = instance;
+            drivers[instance] = new AP_Proximity_TeraRangerTowerEvo(*this, state[instance], serial_manager);
+            return;
+        }
+    }
     if (type == Proximity_Type_RangeFinder) {
         state[instance].instance = instance;
         drivers[instance] = new AP_Proximity_RangeFinder(*this, state[instance]);

libraries/AP_Proximity/AP_Proximity.h

@@ -47,6 +47,7 @@ public:
         Proximity_Type_TRTOWER = 3,
         Proximity_Type_RangeFinder = 4,
         Proximity_Type_RPLidarA2 = 5,
+        Proximity_Type_TRTOWEREVO = 6,
         Proximity_Type_SITL    = 10,
     };
 

libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp

@@ -0,0 +1,182 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <AP_HAL/AP_HAL.h>
+#include "AP_Proximity_TeraRangerTowerEvo.h"
+#include <AP_SerialManager/AP_SerialManager.h>
+#include <AP_Math/crc.h>
+#include <ctype.h>
+#include <stdio.h>
+
+extern const AP_HAL::HAL& hal;
+
+/*
+   The constructor also initialises the proximity sensor. Note that this
+   constructor is not called until detect() returns true, so we
+   already know that we should setup the proximity sensor
+*/
+AP_Proximity_TeraRangerTowerEvo::AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend,
+                                                         AP_Proximity::Proximity_State &_state,
+                                                         AP_SerialManager &serial_manager) :
+    AP_Proximity_Backend(_frontend, _state)
+{
+    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
+    if (uart != nullptr) {
+        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0));
+    }
+    // _last_request_sent_ms = AP_HAL::millis();
+}
+
+// detect if a TeraRanger Tower proximity sensor is connected by looking for a configured serial port
+bool AP_Proximity_TeraRangerTowerEvo::detect(AP_SerialManager &serial_manager)
+{
+    AP_HAL::UARTDriver *uart = nullptr;
+    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
+    return uart != nullptr;
+}
+
+// update the state of the sensor
+void AP_Proximity_TeraRangerTowerEvo::update(void)
+{
+    if (uart == nullptr) {
+        return;
+    }
+
+    //initialize the sensor
+    if(_current_init_state != InitState::InitState_Finished)
+    {
+        initialise_modes();
+    }
+
+    // process incoming messages
+    read_sensor_data();
+
+    // check for timeout and set health status
+    if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_TRTOWER_TIMEOUT_MS)) {
+        set_status(AP_Proximity::Proximity_NoData);
+    } else {
+        set_status(AP_Proximity::Proximity_Good);
+    }
+}
+
+// get maximum and minimum distances (in meters) of primary sensor
+float AP_Proximity_TeraRangerTowerEvo::distance_max() const
+{
+    return 8.0f;
+}
+float AP_Proximity_TeraRangerTowerEvo::distance_min() const
+{
+    return 0.75f;
+}
+
+void AP_Proximity_TeraRangerTowerEvo::initialise_modes()
+{
+    if((AP_HAL::millis() - _last_request_sent_ms) < _mode_request_delay) {
+        return;
+    }
+
+    if (_current_init_state == InitState_Printout) {
+        set_mode(BINARY_MODE, 4);
+        _current_init_state = InitState_Sequence;
+    }
+    if (_current_init_state == InitState_Sequence) {
+        //set tower mode - 4 sensors are triggered at once with 90 deg angle between each sensor
+        //if this mode is not set the tower will default to sequential mode
+        set_mode(SEQUENCE_MODE, 4);
+        _current_init_state = InitState_Rate;
+    } else if (_current_init_state == InitState_Rate) {
+        //set update rate of the sensor. If it's not set it will default to ASAP mode
+        set_mode(REFRESH_50_HZ, 5);
+        _current_init_state = InitState_StreamStart;
+    } else if (_current_init_state == InitState_StreamStart) {
+        set_mode(ACTIVATE_STREAM, 5);
+        _current_init_state = InitState_Finished;
+    }
+}
+
+void AP_Proximity_TeraRangerTowerEvo::set_mode(const uint8_t *c, int length)
+{
+    uart->write(c, length);
+    _last_request_sent_ms = AP_HAL::millis();
+}
+
+// check for replies from sensor, returns true if at least one message was processed
+bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data()
+{
+    if (uart == nullptr) {
+        return false;
+    }
+
+    uint16_t message_count = 0;
+    int16_t nbytes = uart->available();
+
+    while (nbytes-- > 0) {
+        char c = uart->read();
+        if (c == 'T' ) {
+            buffer_count = 0;
+        }
+        buffer[buffer_count++] = c;
+
+        // we should always read 19 bytes THxxxxxxxxxxxxxxxxMC
+        if (buffer_count >= 20){
+            buffer_count = 0;
+            
+            //check if message has right CRC
+            if (crc_crc8(buffer, 19) == buffer[19]){
+                uint16_t d1 = process_distance(buffer[2], buffer[3]);
+                uint16_t d2 = process_distance(buffer[4], buffer[5]);
+                uint16_t d3 = process_distance(buffer[6], buffer[7]);
+                uint16_t d4 = process_distance(buffer[8], buffer[9]);
+                uint16_t d5 = process_distance(buffer[10], buffer[11]);
+                uint16_t d6 = process_distance(buffer[12], buffer[13]);
+                uint16_t d7 = process_distance(buffer[14], buffer[15]);
+                uint16_t d8 = process_distance(buffer[16], buffer[17]);
+
+                update_sector_data(0, d1);
+                update_sector_data(45, d8);
+                update_sector_data(90, d7);
+                update_sector_data(135, d6);
+                update_sector_data(180, d5);
+                update_sector_data(225, d4);
+                update_sector_data(270, d3);
+                update_sector_data(315, d2);
+
+                message_count++;
+            }
+        }
+    }
+    return (message_count > 0);
+}
+
+uint16_t AP_Proximity_TeraRangerTowerEvo::process_distance(uint8_t buf1, uint8_t buf2)
+{
+    return (buf1 << 8) + buf2;
+}
+
+// process reply
+void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint16_t distance_cm)
+{
+    uint8_t sector;
+    if (convert_angle_to_sector(angle_deg, sector)) {
+        _angle[sector] = angle_deg;
+        _distance[sector] = ((float) distance_cm) / 1000;
+        
+        //check for target too far, target too close and sensor not connected
+        _distance_valid[sector] = distance_cm != 0xffff; //&& distance_cm != 0x0000 && distance_cm != 0x0001;
+        _last_distance_received_ms = AP_HAL::millis();
+        // update boundary used for avoidance
+        update_boundary_for_sector(sector);
+    }
+}

libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h

@@ -0,0 +1,63 @@
+#pragma once
+
+#include "AP_Proximity.h"
+#include "AP_Proximity_Backend.h"
+
+#define PROXIMITY_TRTOWER_TIMEOUT_MS            300                               // requests timeout after 0.3 seconds
+
+class AP_Proximity_TeraRangerTowerEvo : public AP_Proximity_Backend {
+
+public:
+    // constructor
+    AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
+
+    // static detection function
+    static bool detect(AP_SerialManager &serial_manager);
+
+    // update state
+    void update(void);
+
+    // get maximum and minimum distances (in meters) of sensor
+    float distance_max() const;
+    float distance_min() const; 
+
+private:
+
+    // check and process replies from sensor
+    void initialise_modes();
+    bool read_sensor_data();
+    void update_sector_data(int16_t angle_deg, uint16_t distance_cm);
+    uint16_t process_distance(uint8_t buf1, uint8_t buf2);
+    void set_mode(const uint8_t *c, int length);
+
+    enum InitState {
+        InitState_Printout = 0,
+        InitState_Sequence,
+        InitState_Rate,
+        InitState_StreamStart,
+        InitState_Finished
+    };
+    
+    // reply related variables
+    AP_HAL::UARTDriver *uart = nullptr;
+    uint8_t buffer[20]; // buffer where to store data from serial
+    uint8_t buffer_count;
+
+    // request related variables
+    uint32_t _last_distance_received_ms;    // system time of last distance measurement received from sensor
+    uint32_t _last_request_sent_ms;         // system time of last command set
+    const uint16_t _mode_request_delay = 400;
+    enum InitState _current_init_state = InitState_Printout;
+
+    // tower evo operating modes
+
+    const uint8_t BINARY_MODE[4] = {(uint8_t)0x00, (uint8_t)0x11, (uint8_t)0x02, (uint8_t)0x4C};
+    const uint8_t TOWER_MODE[4] = {(uint8_t)0x00, (uint8_t)0x31, (uint8_t)0x03, (uint8_t)0xE5};
+    const uint8_t SEQUENCE_MODE[4] = {(uint8_t)0x00, (uint8_t)0x31, (uint8_t)0x02, (uint8_t)0xE2};
+    const uint8_t ACTIVATE_STREAM[5] = {(uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x02, (uint8_t)0x01, (uint8_t)0xDF};
+    const uint8_t REFRESH_50_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x02, (uint8_t)0xC3};
+    const uint8_t REFRESH_100_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x03, (uint8_t)0xC4};
+    const uint8_t REFRESH_250_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x04, (uint8_t)0xD1};
+    const uint8_t REFRESH_500_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x05, (uint8_t)0xD6};
+    const uint8_t REFRESH_600_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x06, (uint8_t)0xDF};
+};