Andrew Tridgell
3 years ago
committed by
Randy Mackay
5 changed files with 127 additions and 11 deletions
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#include <AP_HAL/AP_HAL.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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/*
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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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CANSensor("Benewake", 3072), |
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AP_RangeFinder_Backend(_state, _params) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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register_driver(AP_CANManager::Driver_Type_Benewake); |
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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_cm = (_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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void 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; |
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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; |
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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; |
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} |
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_distance_sum_cm += dist_cm; |
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_distance_count++; |
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} |
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
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@ -0,0 +1,32 @@
@@ -0,0 +1,32 @@
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#pragma once |
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#include "AP_RangeFinder_Backend.h" |
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#include <AP_CANManager/AP_CANSensor.h> |
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS |
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class AP_RangeFinder_Benewake_CAN : public CANSensor, public AP_RangeFinder_Backend { |
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public: |
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AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); |
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void update() override; |
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// handler for incoming frames
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void handle_frame(AP_HAL::CANFrame &frame) override; |
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static const struct AP_Param::GroupInfo var_info[]; |
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protected: |
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
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return MAV_DISTANCE_SENSOR_RADAR; |
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} |
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private: |
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float _distance_sum_cm; |
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uint32_t _distance_count; |
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int32_t last_recv_id = -1; |
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AP_Int32 snr_min; |
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AP_Int32 receive_id; |
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}; |
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#endif //HAL_MAX_CAN_PROTOCOL_DRIVERS
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