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110 lines
4.1 KiB
110 lines
4.1 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_HAL/AP_HAL.h> |
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#include "AP_RangeFinder_insighticaSerial.h" |
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#include <AP_SerialManager/AP_SerialManager.h> |
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#include <ctype.h> |
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#include "stdio.h" |
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extern const AP_HAL::HAL& hal; |
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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_insighticaSerial::AP_RangeFinder_insighticaSerial(RangeFinder::RangeFinder_State &_state, |
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AP_RangeFinder_Params &_params, |
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uint8_t serial_instance) : |
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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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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 insightica 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_insighticaSerial::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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const int StartSequence=0xAA; //数据包帧头 |
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const int EndSequence=0X55; |
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// read - return last value measured by sensor |
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// bool AP_RangeFinder_insighticaSerial::get_reading(uint16_t &reading_cm,uint16_t &testdata) |
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bool AP_RangeFinder_insighticaSerial::get_reading(uint16_t &reading_cm) |
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{ |
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if (uart == nullptr) { |
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return false; |
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} |
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// read any available lines from the lidar |
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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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if( uart->read() == StartSequence ){ //判断数据包帧头0xAA |
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string[0] = StartSequence; |
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if( uart->read() == StartSequence ){ //判断数据包帧头0xAA |
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string[1] = StartSequence; |
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for( int i = 2;i < 14;i++ ){ //存储数据到数组 |
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string[i] = uart->read(); |
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} |
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CheckSum = string[4]+string[5]+string[6]+string[7]+string[8]+string[9]+string[10]; |
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if( string[11] == (CheckSum&0xFF)&&string[12] == EndSequence && string[13] == EndSequence ){ //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[6]*256+string[7]); //cm |
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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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****** this is used by the up code of sensors.cpp |
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*/ |
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void AP_RangeFinder_insighticaSerial::update(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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state.last_reading_ms = AP_HAL::millis(); |
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update_status(); |
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} else if (AP_HAL::millis() - state.last_reading_ms > 500) { |
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set_status(RangeFinder::RangeFinder_NoData); |
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} |
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} |
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