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105 lines
3.0 KiB
105 lines
3.0 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "AP_RangeFinder_LightWareI2C.h" |
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#include <utility> |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL/utility/sparse-endian.h> |
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extern const AP_HAL::HAL& hal; |
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/* |
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The constructor also initializes 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_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) |
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: AP_RangeFinder_Backend(_state) |
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, _dev(std::move(dev)) {} |
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/* |
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detect if a Lightware rangefinder is connected. We'll detect by |
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trying to take a reading on I2C. If we get a result the sensor is |
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there. |
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*/ |
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AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) |
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{ |
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AP_RangeFinder_LightWareI2C *sensor |
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= new AP_RangeFinder_LightWareI2C(_state, std::move(dev)); |
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if (!sensor) { |
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delete sensor; |
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return nullptr; |
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} |
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if (sensor->_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { |
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uint16_t reading_cm; |
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if (!sensor->get_reading(reading_cm)) { |
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sensor->_dev->get_semaphore()->give(); |
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delete sensor; |
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return nullptr; |
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} |
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sensor->_dev->get_semaphore()->give(); |
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} |
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sensor->init(); |
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return sensor; |
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} |
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void AP_RangeFinder_LightWareI2C::init() |
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{ |
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// call timer() at 20Hz |
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_dev->register_periodic_callback(50000, |
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FUNCTOR_BIND_MEMBER(&AP_RangeFinder_LightWareI2C::timer, void)); |
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} |
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// read - return last value measured by sensor |
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bool AP_RangeFinder_LightWareI2C::get_reading(uint16_t &reading_cm) |
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{ |
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be16_t val; |
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if (state.address == 0) { |
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return false; |
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} |
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// read the high and low byte distance registers |
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bool ret = _dev->read((uint8_t *) &val, sizeof(val)); |
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if (ret) { |
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// combine results into distance |
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reading_cm = be16toh(val); |
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} |
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return ret; |
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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_LightWareI2C::update(void) |
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{ |
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// nothing to do - its all done in the timer() |
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} |
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void AP_RangeFinder_LightWareI2C::timer(void) |
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{ |
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if (get_reading(state.distance_cm)) { |
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// update range_valid state based on distance measured |
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update_status(); |
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} else { |
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set_status(RangeFinder::RangeFinder_NoData); |
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} |
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}
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