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97 lines
3.1 KiB
97 lines
3.1 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_LightWareSerial.h" |
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#include <AP_SerialManager/AP_SerialManager.h> |
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#include <ctype.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_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state, |
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AP_SerialManager &serial_manager) : |
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AP_RangeFinder_Backend(_state) |
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{ |
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0); |
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if (uart != nullptr) { |
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uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0)); |
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} |
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} |
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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 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_LightWareSerial::detect(AP_SerialManager &serial_manager) |
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{ |
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return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr; |
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} |
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// read - return last value measured by sensor |
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bool AP_RangeFinder_LightWareSerial::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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float sum = 0; |
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uint16_t count = 0; |
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int16_t nbytes = uart->available(); |
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while (nbytes-- > 0) { |
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char c = uart->read(); |
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if (c == '\r') { |
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linebuf[linebuf_len] = 0; |
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sum += (float)atof(linebuf); |
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count++; |
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linebuf_len = 0; |
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} else if (isdigit(c) || c == '.') { |
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linebuf[linebuf_len++] = c; |
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if (linebuf_len == sizeof(linebuf)) { |
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// too long, discard the line |
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linebuf_len = 0; |
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} |
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} |
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} |
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// we need to write a byte to prompt another reading |
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uart->write('d'); |
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if (count == 0) { |
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return false; |
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} |
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reading_cm = 100 * sum / count; |
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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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*/ |
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void AP_RangeFinder_LightWareSerial::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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last_reading_ms = AP_HAL::millis(); |
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update_status(); |
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} else if (AP_HAL::millis() - last_reading_ms > 200) { |
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set_status(RangeFinder::RangeFinder_NoData); |
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} |
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}
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