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zr-v4/libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp

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/*
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/>.
*/
/*
Original C Code by Marvelmind (https://bitbucket.org/marvelmind_robotics/)
Adapted into Ardupilot by Karthik Desai, Amilcar Lucas
April 2017
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_Beacon_Marvelmind.h"
extern const AP_HAL::HAL& hal;
AP_Beacon_Marvelmind::AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager &serial_manager) :
AP_Beacon_Backend(frontend)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);
if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
hedge = new MarvelmindHedge();
last_update_ms = 0;
if (hedge) {
create_marvelmind_hedge();
parse_state = RECV_HDR; // current state of receive data
num_bytes_in_block_received = 0; // bytes received
data_id = 0;
start_marvelmind_hedge();
} else {
// initialising beacon failed
}
}
}
//////////////////////////////////////////////////////////////////////////////
// Calculate Modbus CRC16 for array of bytes
// buf: input buffer
// len: size of buffer
// returncode: CRC value
//////////////////////////////////////////////////////////////////////////////
uint16_t AP_Beacon_Marvelmind::calc_crc_modbus(uint8_t *buf, uint16_t len)
{
uint16_t crc = 0xFFFF;
for (uint16_t pos = 0; pos < len; pos++) {
crc ^= (uint16_t) buf[pos]; // XOR byte into least sig. byte of crc
for (uint8_t i = 8; i != 0; i--) { // Loop over each bit
if ((crc & 0x0001) != 0) { // If the LSB is set
crc >>= 1; // Shift right and XOR 0xA001
crc ^= 0xA001;
} else {
// Else LSB is not set
crc >>= 1; // Just shift right
}
}
}
return crc;
}
uint8_t AP_Beacon_Marvelmind::mark_position_ready()
{
uint8_t ind = hedge->_last_values_next;
const uint8_t ind_cur = ind;
hedge->position_buffer[ind].ready = true;
hedge->position_buffer[ind].processed = false;
ind++;
if (ind >= hedge->max_buffered_positions) {
ind = 0;
}
if (hedge->_last_values_count < hedge->max_buffered_positions) {
hedge->_last_values_count++;
}
hedge->_have_new_values = true;
hedge->_last_values_next = ind;
return ind_cur;
}
void AP_Beacon_Marvelmind::process_position_datagram(AP_Beacon_Marvelmind::PositionValue &p)
{
uint8_t ind = hedge->_last_values_next;
hedge->position_buffer[ind].address = input_buffer[16];
hedge->position_buffer[ind].timestamp = input_buffer[5]
| (((uint32_t) input_buffer[6]) << 8)
| (((uint32_t) input_buffer[7]) << 16)
| (((uint32_t) input_buffer[8]) << 24);
const int16_t vx = input_buffer[9] | (((uint16_t) input_buffer[10]) << 8);
hedge->position_buffer[ind].x = vx * 10; // centimeters -> millimeters
const int16_t vy = input_buffer[11] | (((uint16_t) input_buffer[12]) << 8);
hedge->position_buffer[ind].y = vy * 10; // centimeters -> millimeters
const int16_t vz = input_buffer[13] | (((uint16_t) input_buffer[14]) << 8);
hedge->position_buffer[ind].z = vz * 10; // centimeters -> millimeters
hedge->position_buffer[ind].high_resolution = false;
ind = mark_position_ready();
p = hedge->position_buffer[ind];
}
void AP_Beacon_Marvelmind::process_position_highres_datagram(AP_Beacon_Marvelmind::PositionValue &p)
{
uint8_t ind = hedge->_last_values_next;
hedge->position_buffer[ind].address = input_buffer[22];
hedge->position_buffer[ind].timestamp = input_buffer[5]
| (((uint32_t) input_buffer[6]) << 8)
| (((uint32_t) input_buffer[7]) << 16)
| (((uint32_t) input_buffer[8]) << 24);
const int32_t vx = input_buffer[9] | (((uint32_t) input_buffer[10]) << 8)
| (((uint32_t) input_buffer[11]) << 16)
| (((uint32_t) input_buffer[12]) << 24);
hedge->position_buffer[ind].x = vx;
const int32_t vy = input_buffer[13] | (((uint32_t) input_buffer[14]) << 8)
| (((uint32_t) input_buffer[15]) << 16)
| (((uint32_t) input_buffer[16]) << 24);
hedge->position_buffer[ind].y = vy;
const int32_t vz = input_buffer[17] | (((uint32_t) input_buffer[18]) << 8)
| (((uint32_t) input_buffer[19]) << 16)
| (((uint32_t) input_buffer[20]) << 24);
hedge->position_buffer[ind].z = vz;
hedge->position_buffer[ind].high_resolution = true;
ind = mark_position_ready();
p = hedge->position_buffer[ind];
}
AP_Beacon_Marvelmind::StationaryBeaconPosition* AP_Beacon_Marvelmind::get_or_alloc_beacon(uint8_t address)
{
const uint8_t n_used = hedge->positions_beacons.num_beacons;
if (n_used != 0) {
for (uint8_t i = 0; i < n_used; i++) {
if (hedge->positions_beacons.beacons[i].address == address) {
return &hedge->positions_beacons.beacons[i];
}
}
}
if (n_used >= AP_BEACON_MAX_BEACONS) {
return nullptr;
}
hedge->positions_beacons.num_beacons = (n_used + 1);
return &hedge->positions_beacons.beacons[n_used];
}
void AP_Beacon_Marvelmind::process_beacons_positions_datagram()
{
const uint8_t n = input_buffer[5]; // number of beacons in packet
StationaryBeaconPosition *stationary_beacon;
if ((1 + n * 8) != input_buffer[4]) {
return; // incorrect size
}
for (uint8_t i = 0; i < n; i++) {
const uint8_t ofs = 6 + i * 8;
const uint8_t address = input_buffer[ofs];
const int16_t x = input_buffer[ofs + 1]
| (((uint16_t) input_buffer[ofs + 2]) << 8);
const int16_t y = input_buffer[ofs + 3]
| (((uint16_t) input_buffer[ofs + 4]) << 8);
const int16_t z = input_buffer[ofs + 5]
| (((uint16_t) input_buffer[ofs + 6]) << 8);
stationary_beacon = get_or_alloc_beacon(address);
if (stationary_beacon != nullptr) {
stationary_beacon->address = address; //The instance and the address are the same
stationary_beacon->x = x * 10; // centimeters -> millimeters
stationary_beacon->y = y * 10; // centimeters -> millimeters
stationary_beacon->z = z * 10; // centimeters -> millimeters
stationary_beacon->high_resolution = false;
hedge->positions_beacons.updated = true;
}
}
order_stationary_beacons();
}
void AP_Beacon_Marvelmind::process_beacons_positions_highres_datagram()
{
const uint8_t n = input_buffer[5]; // number of beacons in packet
StationaryBeaconPosition *stationary_beacon;
if ((1 + n * 14) != input_buffer[4]) {
return; // incorrect size
}
for (uint8_t i = 0; i < n; i++) {
const uint8_t ofs = 6 + i * 14;
const uint8_t address = input_buffer[ofs];
const int32_t x = input_buffer[ofs + 1]
| (((uint32_t) input_buffer[ofs + 2]) << 8)
| (((uint32_t) input_buffer[ofs + 3]) << 16)
| (((uint32_t) input_buffer[ofs + 4]) << 24);
const int32_t y = input_buffer[ofs + 5]
| (((uint32_t) input_buffer[ofs + 6]) << 8)
| (((uint32_t) input_buffer[ofs + 7]) << 16)
| (((uint32_t) input_buffer[ofs + 8]) << 24);
const int32_t z = input_buffer[ofs + 9]
| (((uint32_t) input_buffer[ofs + 10]) << 8)
| (((uint32_t) input_buffer[ofs + 11]) << 16)
| (((uint32_t) input_buffer[ofs + 12]) << 24);
stationary_beacon = get_or_alloc_beacon(address);
if (stationary_beacon != nullptr) {
stationary_beacon->address = address; //The instance and the address are the same
stationary_beacon->x = x; // millimeters
stationary_beacon->y = y; // millimeters
stationary_beacon->z = z; // millimeters
stationary_beacon->high_resolution = true;
hedge->positions_beacons.updated = true;
}
}
order_stationary_beacons();
}
void AP_Beacon_Marvelmind::update(void)
{
if (uart == nullptr) {
return;
}
// read any available characters
int32_t num_bytes_read = uart->available();
uint8_t received_char = 0;
if (num_bytes_read < 0) {
return;
}
while (num_bytes_read-- > 0) {
bool good_byte = false;
received_char = uart->read();
input_buffer[num_bytes_in_block_received] = received_char;
switch (parse_state) {
case RECV_HDR:
switch (num_bytes_in_block_received) {
case 0:
good_byte = (received_char == 0xff);
break;
case 1:
good_byte = (received_char == 0x47);
break;
case 2:
good_byte = true;
break;
case 3:
data_id = (((uint16_t)received_char) << 8) + input_buffer[2];
good_byte = (data_id == AP_BEACON_MARVELMIND_POSITION_DATAGRAM_ID)
|| (data_id == AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_ID)
|| (data_id == AP_BEACON_MARVELMIND_POSITION_DATAGRAM_HIGHRES_ID)
|| (data_id == AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_HIGHRES_ID);
break;
case 4: {
switch (data_id) {
case AP_BEACON_MARVELMIND_POSITION_DATAGRAM_ID: {
good_byte = (received_char == 0x10);
break;
}
case AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_ID:
case AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_HIGHRES_ID:
good_byte = true;
break;
case AP_BEACON_MARVELMIND_POSITION_DATAGRAM_HIGHRES_ID: {
good_byte = (received_char == 0x16);
break;
}
}
if (good_byte) {
parse_state = RECV_DGRAM;
}
break;
}
}
if (good_byte) {
// correct header byte
num_bytes_in_block_received++;
} else {
// ...or incorrect
parse_state = RECV_HDR;
num_bytes_in_block_received = 0;
}
break;
case RECV_DGRAM:
num_bytes_in_block_received++;
if (num_bytes_in_block_received >= 7 + input_buffer[4]) {
// parse dgram
uint16_t block_crc = calc_crc_modbus(input_buffer, num_bytes_in_block_received);
if (block_crc == 0) {
switch (data_id) {
case AP_BEACON_MARVELMIND_POSITION_DATAGRAM_ID:
{
// add to position_buffer
process_position_datagram(cur_position);
vehicle_position_initialized = true;
set_stationary_beacons_positions_and_distances();
break;
}
case AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_ID:
{
process_beacons_positions_datagram();
beacon_position_initialized = true;
set_stationary_beacons_positions_and_distances();
break;
}
case AP_BEACON_MARVELMIND_POSITION_DATAGRAM_HIGHRES_ID:
{
process_position_highres_datagram(cur_position);
vehicle_position_initialized = true;
set_stationary_beacons_positions_and_distances();
break;
}
case AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_HIGHRES_ID:
{
process_beacons_positions_highres_datagram();
beacon_position_initialized = true;
set_stationary_beacons_positions_and_distances();
break;
}
}
}
// and repeat
parse_state = RECV_HDR;
num_bytes_in_block_received = 0;
}
break;
}
}
}
//////////////////////////////////////////////////////////////////////////////
// Create and initialize MarvelmindHedge structure
//////////////////////////////////////////////////////////////////////////////
void AP_Beacon_Marvelmind::create_marvelmind_hedge()
{
hedge->max_buffered_positions = 3;
hedge->position_buffer = nullptr;
hedge->verbose = false;
hedge->receive_data_callback = nullptr;
hedge->_last_values_count = 0;
hedge->_last_values_next = 0;
hedge->_have_new_values = false;
hedge->termination_required = false;
}
//////////////////////////////////////////////////////////////////////////////
// Initialize and start work
//////////////////////////////////////////////////////////////////////////////
void AP_Beacon_Marvelmind::start_marvelmind_hedge()
{
hedge->position_buffer = (PositionValue*) malloc(sizeof(struct PositionValue) * hedge->max_buffered_positions);
if (hedge->position_buffer == nullptr) {
if (hedge->verbose) {
hal.console->printf("MarvelMind: Not enough memory");
}
hedge->termination_required = true;
return;
}
for (uint8_t i = 0; i < hedge->max_buffered_positions; i++) {
hedge->position_buffer[i].ready = false;
hedge->position_buffer[i].processed = false;
}
hedge->positions_beacons.num_beacons = 0;
hedge->positions_beacons.updated = false;
}
bool AP_Beacon_Marvelmind::healthy()
{
// healthy if we have parsed a message within the past 300ms
return ((AP_HAL::millis() - last_update_ms) < AP_BEACON_TIMEOUT_MS);
}
void AP_Beacon_Marvelmind::set_stationary_beacons_positions_and_distances()
{
if (vehicle_position_initialized && beacon_position_initialized) {
if (hedge->_have_new_values) {
vehicle_position_NED__m = Vector3f(cur_position.y / 1000.0f,
cur_position.x / 1000.0f,
-cur_position.z / 1000.0f); //Transform Marvelmind ENU to Ardupilot NED
//TODO: Calculate Accuracy of the received signal. Marvelmind *advertises* +/- 2cms
set_vehicle_position(vehicle_position_NED__m, 0.02f);
last_update_ms = AP_HAL::millis();
}
for (uint8_t i=0; i < hedge->positions_beacons.num_beacons; ++i) {
if (hedge->positions_beacons.updated) {
beacon_position_NED__m[i] = Vector3f(hedge->positions_beacons.beacons[i].y / 1000.0f,
hedge->positions_beacons.beacons[i].x / 1000.0f,
-hedge->positions_beacons.beacons[i].z / 1000.0f); //Transform Marvelmind ENU to Ardupilot NED
set_beacon_position(i, beacon_position_NED__m[i]);
}
if (hedge->_have_new_values) {
// this is a big hack:
// The distances measured in the hedgehog to each beacon are not available in the Marvelmind serial protocol
// As a workaround we use the triangulated position calculated by the Marvelmind hardware and calculate the distances to the beacons
// as a result the EKF will not have to resolve ambiguities
set_beacon_distance(i, (beacon_position_NED__m[i] - vehicle_position_NED__m).length());
}
}
hedge->positions_beacons.updated = false;
hedge->_have_new_values = false;
}
}
void AP_Beacon_Marvelmind::order_stationary_beacons()
{
if (hedge->positions_beacons.updated) {
bool swapped = false;
uint8_t j = hedge->positions_beacons.num_beacons;
do
{
swapped = false;
StationaryBeaconPosition beacon_to_swap;
for(uint8_t i = 1; i < j; i++) {
if (hedge->positions_beacons.beacons[i-1].address > hedge->positions_beacons.beacons[i].address) {
beacon_to_swap = hedge->positions_beacons.beacons[i];
hedge->positions_beacons.beacons[i] = hedge->positions_beacons.beacons[i-1];
hedge->positions_beacons.beacons[i-1] = beacon_to_swap;
swapped = true;
}
}
j--;
} while(swapped);
}
}