Line data    Source code

       1             : #pragma once
       2             : #include "AP_Proximity_config.h"
       3             : 
       4             : #if AP_PROXIMITY_MR72_DRIVER_ENABLED
       5             : 
       6             : #include "AP_Proximity.h"
       7             : #include "AP_Proximity_Backend.h"
       8             : #include <AP_HAL/AP_HAL.h>
       9             : #include <AP_CANManager/AP_CANSensor.h>
      10             : 
      11             : #define MR72_MAX_RANGE_M             50.0f   // max range of the sensor in meters
      12             : #define MR72_MIN_RANGE_M             0.2f   // min range of the sensor in meters
      13             : 
      14             : class MR72_MultiCAN;
      15             : 
      16             : class AP_Proximity_MR72_CAN : public AP_Proximity_Backend {
      17             : public:
      18             :     friend class MR72_MultiCAN;
      19             : 
      20             :     AP_Proximity_MR72_CAN(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_Proximity_Params& _params);
      21             : 
      22             :     void update() override;
      23             : 
      24             :     // handler for incoming frames. Return true if consumed
      25             :     bool handle_frame(AP_HAL::CANFrame &frame);
      26             : 
      27             :     // parse a distance message from CAN frame
      28             :     bool parse_distance_message(AP_HAL::CANFrame &frame);
      29             : 
      30             :     // get maximum and minimum distances (in meters) of sensor
      31           0 :     float distance_max_m() const override { return MR72_MAX_RANGE_M; }
      32           0 :     float distance_min_m() const override { return MR72_MIN_RANGE_M; }
      33             : 
      34             :     static const struct AP_Param::GroupInfo var_info[];
      35             : 
      36             :     AP_Proximity_Temp_Boundary _temp_boundary;
      37             : 
      38             : private:
      39             : 
      40           0 :     uint32_t get_radar_id(uint32_t id) const { return ((id & 0xF0U) >> 4U); }
      41             : 
      42             :     uint32_t _object_count;             // total number of objects to read
      43             :     uint32_t _current_object_index;     // current object index
      44             :     uint32_t last_update_ms;            // last update time in ms
      45             : 
      46             :     AP_Int32 receive_id;                // ID of the sensor
      47             : 
      48             :     MultiCAN* multican_MR72;            // Allows for multiple CAN rangefinders on a single bus
      49             : };
      50             : 
      51             : #endif  // AP_PROXIMITY_MR72_DRIVER_ENABLED