Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             :    This program is distributed in the hope that it will be useful,
       7             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       8             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       9             :    GNU General Public License for more details.
      10             :    You should have received a copy of the GNU General Public License
      11             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      12             :  */
      13             : 
      14             : /*
      15             :  * ArduPilot device driver for Inno-Maker LD06 LiDAR
      16             :  *
      17             :  * ALL INFORMATION REGARDING PROTOCOL WAS DERIVED FROM LD06 DATASHEET:
      18             :  *
      19             :  * http://wiki.inno-maker.com/display/HOMEPAGE/LD06?preview=/6949506/6949511/LDROBOT_LD06_Development%20manual_v1.0_en.pdf
      20             :  *
      21             :  * Author: Adithya Patil, Georgia Institute of Technology
      22             :  * Based on the SLAMTEC RPLiDAR code written by Steven Josefs, IAV GmbH
      23             :  *
      24             :  */
      25             : 
      26             : #pragma once
      27             : #include "AP_Proximity_config.h"
      28             : 
      29             : #if AP_PROXIMITY_LD06_ENABLED
      30             : 
      31             : #include "AP_Proximity_Backend_Serial.h"
      32             : #include <Filter/ModeFilter.h>
      33             : 
      34             : #define MESSAGE_LENGTH_LD06         47
      35             : 
      36             : // Minimum and maximum distance that the sensor can read in meters
      37             : #define MAX_READ_DISTANCE_LD06          12.0f
      38             : #define MIN_READ_DISTANCE_LD06           0.02f
      39             : 
      40             : class AP_Proximity_LD06 : public AP_Proximity_Backend_Serial
      41             : {
      42             : public:
      43             : 
      44             :     using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
      45             : 
      46             :     // Update the state of the sensor
      47             :     void update(void) override;
      48             : 
      49             :     // Get the max and min distances for the sensor being used
      50       34651 :     float distance_max_m() const override { return MAX_READ_DISTANCE_LD06; }
      51      250755 :     float distance_min_m() const override { return MIN_READ_DISTANCE_LD06; }
      52             : 
      53             : private:
      54             : 
      55             :     // Get and parse the sensor data
      56             :     void parse_response_data();
      57             :     void get_readings();
      58             : 
      59             :     // Store and keep track of the bytes being read from the sensor
      60             :     uint8_t _response[MESSAGE_LENGTH_LD06];
      61             :     uint16_t _byte_count;
      62             : 
      63             :     // Store for error-tracking purposes
      64             :     uint32_t  _last_distance_received_ms;
      65             : 
      66             :     // distance filter applies to raw measurements
      67             :     ModeFilterUInt16_Size3 _dist_filt_mm {1};
      68             : 
      69             :     // face related variables
      70             :     AP_Proximity_Boundary_3D::Face _last_face;///< last face requested
      71             :     float _last_angle_deg;                    ///< yaw angle (in degrees) of _last_distance_m
      72             :     float _last_distance_m;                   ///< shortest distance for _last_face
      73             :     bool _last_distance_valid;                ///< true if _last_distance_m is valid
      74             : 
      75             :     // angle and distance for the latest 2 degree sector
      76             :     uint16_t _angle_2deg;
      77             :     float _dist_2deg_m;
      78             : };
      79             : #endif // AP_PROXIMITY_LD06_ENABLED