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             : #pragma once
      17             : 
      18             : #include "AP_RangeFinder_config.h"
      19             : 
      20             : #if AP_RANGEFINDER_DTS6012M_ENABLED
      21             : 
      22             : #include "AP_RangeFinder_Backend_Serial.h"
      23             : #include <AP_HAL/utility/sparse-endian.h>
      24             : 
      25             : 
      26             : class AP_RangeFinder_DTS6012M : public AP_RangeFinder_Backend_Serial
      27             : {
      28             : public:
      29           1 :     static AP_RangeFinder_Backend_Serial *create(
      30             :         RangeFinder::RangeFinder_State &_state,
      31             :         AP_RangeFinder_Params &_params)
      32             :     {
      33           1 :         return NEW_NOTHROW AP_RangeFinder_DTS6012M(_state, _params);
      34             :     }
      35             : 
      36             : protected:
      37             :     using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
      38             : 
      39         342 :     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { return MAV_DISTANCE_SENSOR_LASER; }
      40             : 
      41             : private:
      42             :     bool get_reading(float &reading_m) override;
      43           1 :     uint32_t initial_baudrate(uint8_t serial_instance) const override { return 921600; }
      44         686 :     int8_t get_signal_quality_pct() const override { return _signal_quality_pct; }
      45             : 
      46             :     // protocol parsing state
      47             :     // response frame layout matching the DTS6012M wire format
      48             :     struct PACKED {
      49             :         uint8_t header;         // 0xA5
      50             :         uint8_t device_id;      // 0x03
      51             :         uint8_t device_type;    // 0x20
      52             :         uint8_t cmd_echo;       // 0x01
      53             :         uint8_t reserved;
      54             :         be16_t data_len;        // big-endian length
      55             :         // measurement data (14 bytes)
      56             :         le16_t secondary_distance_mm;
      57             :         le16_t secondary_correction;
      58             :         le16_t secondary_intensity;
      59             :         le16_t primary_distance_mm;
      60             :         le16_t primary_correction;
      61             :         le16_t primary_intensity;
      62             :         le16_t sunlight_base;
      63             :         // CRC16 (big-endian)
      64             :         be16_t crc;
      65             :     } frame;
      66             :     uint8_t linebuf_len;
      67             :     bool got_reading;
      68             :     int8_t _signal_quality_pct = RangeFinder::SIGNAL_QUALITY_UNKNOWN;
      69             : 
      70             :     // send start stream command to sensor
      71             :     void send_start_command();
      72             : 
      73             :     // search for frame header byte starting at given offset,
      74             :     // shifting buffer contents to re-sync after line noise
      75             :     void find_signature_in_buffer(uint8_t start);
      76             : };
      77             : 
      78             : #endif  // AP_RANGEFINDER_DTS6012M_ENABLED