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             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include "AP_RangeFinder_config.h"
      17             : 
      18             : #if AP_RANGEFINDER_BACKEND_CAN_ENABLED
      19             : 
      20             : #include <AP_HAL/AP_HAL.h>
      21             : #include "AP_RangeFinder_Backend_CAN.h"
      22             : 
      23             : const AP_Param::GroupInfo AP_RangeFinder_Backend_CAN::var_info[] = {
      24             : 
      25             :     // @Param: RECV_ID
      26             :     // @DisplayName: RangeFinder CAN receive ID
      27             :     // @Description: The receive ID of the CAN frames. A value of zero means all IDs are accepted.
      28             :     // @Range: 0 65535
      29             :     // @User: Advanced
      30             :     AP_GROUPINFO("RECV_ID", 10, AP_RangeFinder_Backend_CAN, receive_id, 0),
      31             : 
      32             :     // @Param: SNR_MIN
      33             :     // @DisplayName: RangeFinder Minimum signal strength
      34             :     // @Description: RangeFinder Minimum signal strength (SNR) to accept distance
      35             :     // @Range: 0 65535
      36             :     // @User: Advanced
      37             :     AP_GROUPINFO("SNR_MIN", 11, AP_RangeFinder_Backend_CAN, snr_min, 0),
      38             : 
      39             :     AP_GROUPEND
      40             : };
      41             : 
      42             : // constructor
      43           0 : AP_RangeFinder_Backend_CAN::AP_RangeFinder_Backend_CAN(
      44             :     RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_CAN::Protocol can_type,
      45           0 :                                     const char *driver_name) :
      46           0 :     AP_RangeFinder_Backend(_state, _params)
      47             : {
      48           0 :     AP_Param::setup_object_defaults(this, var_info);
      49           0 :     state.var_info = var_info;
      50           0 :     multican_rangefinder = NEW_NOTHROW MultiCAN{FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Backend_CAN::handle_frame, bool, AP_HAL::CANFrame &), can_type, driver_name};
      51           0 :     if (multican_rangefinder == nullptr) {
      52           0 :         AP_BoardConfig::allocation_error("Failed to create rangefinder multican");
      53             :     }
      54           0 : }
      55             : 
      56             : // update the state of the sensor
      57           0 : void AP_RangeFinder_Backend_CAN::update(void)
      58             : {
      59           0 :     if (get_reading(state.distance_m)) {
      60             :         // update range_valid state based on distance measured
      61           0 :         state.last_reading_ms = AP_HAL::millis();
      62           0 :         update_status();
      63           0 :     } else if (AP_HAL::millis() - state.last_reading_ms >= read_timeout_ms()) {
      64           0 :         set_status(RangeFinder::Status::NoData);
      65             :     }
      66           0 : }
      67             : 
      68             : // get distance measurement
      69           0 : bool AP_RangeFinder_Backend_CAN::get_reading(float &reading_m)
      70             : {
      71           0 :     WITH_SEMAPHORE(_sem);
      72           0 :     if (_distance_count != 0) {
      73           0 :         reading_m = _distance_sum / _distance_count;
      74           0 :         _distance_sum = 0;
      75           0 :         _distance_count = 0;
      76           0 :         return true;
      77             :     }
      78             : 
      79           0 :     return false;
      80           0 : }
      81             : 
      82             : // return true if the CAN ID is correct
      83           0 : bool AP_RangeFinder_Backend_CAN::is_correct_id(uint32_t id) const
      84             : {
      85           0 :     if (receive_id != 0 && id != uint32_t(receive_id.get())) {
      86             :         // incorrect receive ID
      87           0 :         return false;
      88             :     }
      89           0 :     return true;
      90             : }
      91             : 
      92             : #endif  // AP_RANGEFINDER_BACKEND_CAN_ENABLED