[module] driver for the TeraRanger One range finder (#1888)

conf/modules/teraranger_one.xml

@@ -0,0 +1,25 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="teraranger_one" dir="range_finder">
+  <doc>
+    <description>Driver for the TeraRanger One range finder (I2C)</description>
+    <configure name="TERARANGER_ONE_I2C_DEV" value="i2cX" description="Select I2C bus (i2c2 by default)"/>
+    <define name="TERARANGER_ONE_I2C_ADDR" value="0x60" description="Select an alternate I2C address (0x60 by default)"/>
+    <define name="TERARANGER_ONE_OFFSET" value="0.0" description="Add an offset to the measurments (0. by default)" unit="m"/>
+    <define name="USE_TERARANGER_ONE_AGL" value="TRUE|FALSE" description="Send data as AGL measurments to the system (TRUE by default)"/>
+  </doc>
+  <header>
+    <file name="teraranger_one.h"/>
+  </header>
+  <init fun="teraranger_init()"/>
+  <periodic fun="teraranger_periodic()" freq="50"/>
+  <periodic fun="teraranger_downlink()" freq="10" autorun="FALSE"/>
+  <event fun="teraranger_event()"/>
+  <makefile>
+    <configure name="TERARANGER_ONE_I2C_DEV" default="i2c2" case="upper|lower"/>
+    <file name="teraranger_one.c"/>
+    <define name="TERARANGER_ONE_I2C_DEV" value="$(TERARANGER_ONE_I2C_DEV_LOWER)"/>
+    <define name="USE_$(TERARANGER_ONE_I2C_DEV_UPPER)"/>
+  </makefile>
+</module>
+

sw/airborne/modules/range_finder/teraranger_one.c

@@ -0,0 +1,146 @@
+/*
+ * Copyright (C) Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/range_finder/teraranger_one.c"
+ * @author Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ * Driver for the TeraRanger One range finder (I2C)
+ */
+
+#include "modules/range_finder/teraranger_one.h"
+#include "mcu_periph/i2c.h"
+#include "subsystems/abi.h"
+#include "subsystems/datalink/downlink.h"
+
+// check if I2C device is selected
+#ifndef TERARANGER_ONE_I2C_DEV
+#error TERARANGER_ONE_I2C_DEV needs to be defined
+#endif
+PRINT_CONFIG_VAR(TERARANGER_ONE_I2C_DEV)
+
+// default base address on 8 bits
+#ifndef TERARANGER_ONE_I2C_ADDR
+#define TERARANGER_ONE_I2C_ADDR 0x60
+#endif
+
+// add an offset to the measurments (in meters)
+#ifndef TERARANGER_ONE_OFFSET
+#define TERARANGER_ONE_OFFSET 0.f
+#endif
+
+// send AGL data over ABI
+#ifndef USE_TERARANGER_ONE_AGL
+#define USE_TERARANGER_ONE_AGL TRUE
+#endif
+
+// CRC8 table used to check data validity
+static const uint8_t crc_table[] = {
+  0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23,
+  0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41,
+  0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf,
+  0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85,
+  0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc,
+  0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
+  0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, 0x27, 0x20,
+  0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
+  0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74,
+  0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8,
+  0xad, 0xaa, 0xa3, 0xa4, 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6,
+  0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
+  0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, 0x05, 0x02,
+  0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, 0x4e, 0x49, 0x40, 0x47,
+  0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39,
+  0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
+  0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d,
+  0x84, 0x83, 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
+  0xfa, 0xfd, 0xf4, 0xf3
+};
+
+// CRC check function
+static uint8_t teraranger_crc8(uint8_t *p, uint8_t len)
+{
+  uint16_t i;
+  uint16_t crc = 0x0;
+
+  while (len--)
+  {
+    i = (crc ^ *p++) & 0xFF;
+    crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
+  }
+  return crc & 0xFF;
+}
+
+// data stucture
+struct TeraRanger teraranger;
+
+// private data
+struct i2c_transaction teraranger_i2c_trans;
+
+void teraranger_init(void)
+{
+  teraranger.raw = 0;
+  teraranger.dist = 0.f;
+  teraranger.offset = TERARANGER_ONE_OFFSET;
+  teraranger.data_available = false;
+
+  teraranger_i2c_trans.status = I2CTransDone;
+}
+
+// data are available in continous reading
+void teraranger_periodic(void)
+{
+  // next reading
+  if (teraranger_i2c_trans.status == I2CTransDone) {
+    i2c_receive(&TERARANGER_ONE_I2C_DEV, &teraranger_i2c_trans, TERARANGER_ONE_I2C_ADDR, 3);
+  }
+}
+
+void teraranger_event(void)
+{
+  if (teraranger_i2c_trans.status == I2CTransSuccess) {
+    // check if CRC is valid
+    if (teraranger_crc8((uint8_t*)teraranger_i2c_trans.buf, 2) == teraranger_i2c_trans.buf[2]) {
+      // raw value
+      teraranger.raw =
+        ((uint16_t)(teraranger_i2c_trans.buf[0]) << 8) |
+        (uint16_t)(teraranger_i2c_trans.buf[1]);
+      // check if data is within ranges
+      if (teraranger.raw != 0) {
+        teraranger.dist = (float)teraranger.raw / 1000.f + teraranger.offset;
+        teraranger.data_available = true;
+#if USE_TERARANGER_ONE_AGL
+        AbiSendMsgAGL(AGL_TERARANGER_ONE_ID, teraranger.dist);
+#endif
+      } else {
+        // data are not valid any more
+        teraranger.data_available = false;
+      }
+    }
+    teraranger_i2c_trans.status = I2CTransDone;
+  } else if (teraranger_i2c_trans.status == I2CTransFailed) {
+    // retry if failed
+    teraranger_i2c_trans.status = I2CTransDone;
+  }
+}
+
+void teraranger_downlink(void)
+{
+  DOWNLINK_SEND_SONAR(DefaultChannel, DefaultDevice, &teraranger.raw, &teraranger.dist);
+}
+

sw/airborne/modules/range_finder/teraranger_one.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+/**
+ * @file "modules/range_finder/teraranger_one.h"
+ * @author Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ * Driver for the TeraRanger One range finder (I2C)
+ */
+
+#ifndef TERARANGER_ONE_H
+#define TERARANGER_ONE_H
+
+#include "std.h"
+
+struct TeraRanger {
+  uint16_t raw; ///< raw distance in mm
+  float dist;   ///< scaled distance in m
+  float offset; ///< offset in m
+  bool data_available;
+};
+
+extern struct TeraRanger teraranger;
+
+extern void teraranger_init(void);
+extern void teraranger_periodic(void);
+extern void teraranger_event(void);
+extern void teraranger_downlink(void);
+
+#endif
+

sw/airborne/subsystems/abi_sender_ids.h

@@ -107,6 +107,10 @@
 #define AGL_SONAR_PX4FLOW_ID 4
 #endif
 
+#ifndef AGL_TERARANGER_ONE_ID
+#define AGL_TERARANGER_ONE_ID 5
+#endif
+
 /*
  * IDs of magnetometer sensors (including IMUs with mag)
  */