add JRE

jfbblue0922 · Oct 13, 2023 · 2dd3b88 · 2dd3b88
1 parent 4b0958f
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diff --git a/libraries/AP_Math/crc.cpp b/libraries/AP_Math/crc.cpp
@@ -384,6 +384,53 @@ uint16_t crc16_ccitt(const uint8_t *buf, uint32_t len, uint16_t crc)
     return crc;
 }
 
+/* right shift table */
+static const uint16_t crc16tab_r[256] = {
+  0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
+  0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7,
+  0x1081, 0x0108, 0x3393, 0x221A, 0x56A5, 0x472C, 0x75B7, 0x643E,
+  0x9CC9, 0x8D40, 0xBFDB, 0xAE52, 0xDAED, 0xCB64, 0xF9FF, 0xE876,
+  0x2102, 0x308B, 0x0210, 0x1399, 0x6726, 0x76AF, 0x4434, 0x55BD,
+  0xAD4A, 0xBCC3, 0x8E58, 0x9FD1, 0xEB6E, 0xFAE7, 0xC87C, 0xD9F5,
+  0x3183, 0x200A, 0x1291, 0x0318, 0x77A7, 0x662E, 0x54B5, 0x453C,
+  0xBDCB, 0xAC42, 0x9ED9, 0x8F50, 0xFBEF, 0xEA66, 0xD8FD, 0xC974,
+  0x4204, 0x538D, 0x6116, 0x709F, 0x0420, 0x15A9, 0x2732, 0x36BB,
+  0xCE4C, 0xDFC5, 0xED5E, 0xFCD7, 0x8868, 0x99E1, 0xAB7A, 0xBAF3,
+  0x5285, 0x430C, 0x7197, 0x601E, 0x14A1, 0x0528, 0x37B3, 0x263A,
+  0xDECD, 0xCF44, 0xFDDF, 0xEC56, 0x98E9, 0x8960, 0xBBFB, 0xAA72,
+  0x6306, 0x728F, 0x4014, 0x519D, 0x2522, 0x34AB, 0x0630, 0x17B9,
+  0xEF4E, 0xFEC7, 0xCC5C, 0xDDD5, 0xA96A, 0xB8E3, 0x8A78, 0x9BF1,
+  0x7387, 0x620E, 0x5095, 0x411C, 0x35A3, 0x242A, 0x16B1, 0x0738,
+  0xFFCF, 0xEE46, 0xDCDD, 0xCD54, 0xB9EB, 0xA862, 0x9AF9, 0x8B70,
+  0x8408, 0x9581, 0xA71A, 0xB693, 0xC22C, 0xD3A5, 0xE13E, 0xF0B7,
+  0x0840, 0x19C9, 0x2B52, 0x3ADB, 0x4E64, 0x5FED, 0x6D76, 0x7CFF,
+  0x9489, 0x8500, 0xB79B, 0xA612, 0xD2AD, 0xC324, 0xF1BF, 0xE036,
+  0x18C1, 0x0948, 0x3BD3, 0x2A5A, 0x5EE5, 0x4F6C, 0x7DF7, 0x6C7E,
+  0xA50A, 0xB483, 0x8618, 0x9791, 0xE32E, 0xF2A7, 0xC03C, 0xD1B5,
+  0x2942, 0x38CB, 0x0A50, 0x1BD9, 0x6F66, 0x7EEF, 0x4C74, 0x5DFD,
+  0xB58B, 0xA402, 0x9699, 0x8710, 0xF3AF, 0xE226, 0xD0BD, 0xC134,
+  0x39C3, 0x284A, 0x1AD1, 0x0B58, 0x7FE7, 0x6E6E, 0x5CF5, 0x4D7C,
+  0xC60C, 0xD785, 0xE51E, 0xF497, 0x8028, 0x91A1, 0xA33A, 0xB2B3,
+  0x4A44, 0x5BCD, 0x6956, 0x78DF, 0x0C60, 0x1DE9, 0x2F72, 0x3EFB,
+  0xD68D, 0xC704, 0xF59F, 0xE416, 0x90A9, 0x8120, 0xB3BB, 0xA232,
+  0x5AC5, 0x4B4C, 0x79D7, 0x685E, 0x1CE1, 0x0D68, 0x3FF3, 0x2E7A,
+  0xE70E, 0xF687, 0xC41C, 0xD595, 0xA12A, 0xB0A3, 0x8238, 0x93B1,
+  0x6B46, 0x7ACF, 0x4854, 0x59DD, 0x2D62, 0x3CEB, 0x0E70, 0x1FF9,
+  0xF78F, 0xE606, 0xD49D, 0xC514, 0xB1AB, 0xA022, 0x92B9, 0x8330,
+  0x7BC7, 0x6A4E, 0x58D5, 0x495C, 0x3DE3, 0x2C6A, 0x1EF1, 0x0F78,
+};
+
+// right shift
+uint16_t crc16_ccitt_r(const uint8_t *buf, uint32_t len, uint16_t crc, uint16_t out)
+{
+    for (uint32_t i = 0; i < len; i++) {
+        crc = (crc >> 8) ^ crc16tab_r[(crc ^ *buf++) & 0x00FF];
+    }
+    crc = crc ^ out;  // output xor
+
+    return crc;
+}
+
 uint16_t crc16_ccitt_GDL90(const uint8_t *buf, uint32_t len, uint16_t crc)
 {
     for (uint32_t i = 0; i < len; i++) {

diff --git a/libraries/AP_Math/crc.h b/libraries/AP_Math/crc.h
@@ -41,6 +41,7 @@ uint8_t crc_sum8(const uint8_t *p, uint8_t len);
 // Copyright (C) 2010 Swift Navigation Inc.
 // Contact: Fergus Noble <[email protected]>
 uint16_t crc16_ccitt(const uint8_t *buf, uint32_t len, uint16_t crc);
+uint16_t crc16_ccitt_r(const uint8_t *buf, uint32_t len, uint16_t crc, uint16_t out);
 
 // CRC16_CCITT algorithm using the GDL90 parser method which is non-standard
 // https://www.faa.gov/nextgen/programs/adsb/archival/media/gdl90_public_icd_reva.pdf

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.cpp b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
@@ -55,6 +55,7 @@
 #include "AP_RangeFinder_NoopLoop.h"
 #include "AP_RangeFinder_TOFSenseP_CAN.h"
 #include "AP_RangeFinder_NRA24_CAN.h"
+#include "AP_RangeFinder_JRE_Serial.h"
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Logger/AP_Logger.h>
@@ -557,6 +558,12 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
 #endif
         break;
 
+#if AP_RANGEFINDER_JRE_SERIAL_ENABLED
+    case Type::JRE_Serial:
+        serial_create_fn = AP_RangeFinder_JRE_Serial::create;
+        break;
+#endif
+
     case Type::NONE:
         break;
     }

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.h b/libraries/AP_RangeFinder/AP_RangeFinder.h
@@ -96,6 +96,7 @@ class RangeFinder
         NoopLoop_P = 37,
         TOFSenseP_CAN = 38,
         NRA24_CAN = 39,
+        JRE_Serial = 40,
         SIM = 100,
     };
 

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.cpp
@@ -0,0 +1,111 @@
+/*
+   This program 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 3 of the License, or
+   (at your option) any later version.
+
+   This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_JRE_SERIAL_ENABLED
+
+#include "AP_RangeFinder_JRE_Serial.h"
+#include <AP_Math/AP_Math.h>
+
+#define FRAME_HEADER_1    'R'    // 0x52
+#define FRAME_HEADER_2_A  'A'    // 0x41
+#define FRAME_HEADER_2_B  'B'    // 0x42
+#define FRAME_HEADER_2_C  'C'    // 0x43
+
+#define DIST_MAX_CM 50000
+#define OUT_OF_RANGE_ADD_CM   100
+
+bool AP_RangeFinder_JRE_Serial::get_reading(float &reading_m)
+{
+    // uart instance check
+    if (uart == nullptr) {
+        return false;  // not update
+    }
+
+    uint16_t valid_count = 0;   // number of valid readings
+    uint16_t invalid_count = 0; // number of invalid readings
+    float sum = 0;
+    // max distance the sensor can reliably measure - read from parameters
+    const int16_t distance_cm_max = max_distance_cm();
+
+    // buffer read
+    const ssize_t num_read = uart->read(read_buff, ARRAY_SIZE(read_buff));
+    for (read_buff_idx = 0; read_buff_idx < num_read; read_buff_idx++) {
+
+        if (data_buff_idx == 0) { // header first byte check
+            // header data search
+            for (; read_buff_idx < num_read; read_buff_idx++) {
+                if (read_buff[read_buff_idx] == FRAME_HEADER_1) {
+                    data_buff[0] = FRAME_HEADER_1;
+                    data_buff_idx = 1; // next data_buff
+                    break;
+                }
+            }
+
+        } else if (data_buff_idx == 1) { // header second byte check
+            data_buff[1] = read_buff[read_buff_idx];
+            data_buff_idx = 2;    // next data_buff
+            switch (read_buff[read_buff_idx]) {
+            case FRAME_HEADER_2_A:
+                data_buff_len = 16;
+                break;
+            case FRAME_HEADER_2_B:
+                data_buff_len = 32;
+                break;
+            case FRAME_HEADER_2_C:
+                data_buff_len = 48;
+                break;
+            default:
+                data_buff_idx = 0;    // data index clear
+                break;
+            }
+
+        } else { // data set
+            data_buff[data_buff_idx++] = read_buff[read_buff_idx];
+
+            if (data_buff_idx >= data_buff_len) {  // 1 data set complete
+                // crc check
+                uint16_t crc = crc16_ccitt_r(data_buff, data_buff_len - 2, 0xffff, 0xffff);
+                if ((HIGHBYTE(crc) == data_buff[data_buff_len-1]) && (LOWBYTE(crc) == data_buff[data_buff_len-2])) {
+                    // status check
+                    if (data_buff[data_buff_len-3] & 0x02) { // NTRK
+                        invalid_count++;
+                    } else { // TRK
+                        reading_m = (data_buff[4] * 256 + data_buff[5]) * 0.01f;
+                        sum += reading_m;
+                        valid_count++;
+                    }
+                }
+                data_buff_idx = 0; // data index clear
+            }
+        }
+    }
+
+    if (valid_count > 0) {
+        no_signal = false;
+        reading_m = sum / valid_count;
+        return true;
+    }
+
+    if (invalid_count > 0) {
+        no_signal = true;
+        reading_m = MIN(MAX(DIST_MAX_CM, distance_cm_max + OUT_OF_RANGE_ADD_CM), UINT16_MAX) * 0.01f;
+        return true;
+    }
+
+    return false;
+}
+#endif  // AP_RANGEFINDER_JRE_SERIAL_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h b/libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.h
@@ -0,0 +1,106 @@
+#pragma once
+
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_JRE_SERIAL_ENABLED
+
+#include "AP_RangeFinder.h"
+#include "AP_RangeFinder_Backend_Serial.h"
+
+/*
+The data received from the radio altimeter is as follows.
+The format of the received data frame varies depending on the mode, and is stored in "read_buff" with a fixed value of 16 bytes, 32 bytes, or 48 bytes.
+
+[1]
+Measurement mode: 1 data mode
+Packet length: 16 bytes
+Altitude data used: 4,5 bytes
+|----------------------------------------------------------------------------------------------------------------------------------------------------|
+| BYTE |   0    |   1    |    2     |    3     |    4     |    5     | 6 | 7 | 8 | 9 |     10    |     11    |    12     |    13     |  14   |  15   |
+|------|---------------------------------------------------------------------------------------------------------------------------------------------|
+| NAME | header | header | version  |  frame   | altitude | altitude |    reserved   | FFT value | FFT value |  status   |  status   |  CRC  |  CRC  |
+|      |  (H)   |  (L)   |          |  count   |    (H)   |    (L)   |               |    (H)    |    (L)    |   (H)     |   (L)     |  (L)  |  (H)  |
+|------|---------------------------------------------------------------------------------------------------------------------------------------------|
+|      |        |        |          |          |                     |               |                       | BIT 15to8: reserved   |               |
+|      |        |        |          | unsigned |       unsigned      |               |       unsigned        | BIT 7to4: GAIN detail |   CRC result  |
+| DATA |  'R'   |  'A'   | 0 to 255 | 0 to 255 |      LSB;0.01 m     |      N/A      |        LSB:1          | BIT 3-2: reserved     |   from BYTE   |
+|      |        |        |          |          |      0 to 65535     |               |      0 to 65535       | BIT 1: TRK / NTRK     |    0 to 13    |
+|      |        |        |          |          |                     |               |                       | BIT 0: GAIN LOW/HIGH  |               |
+|----------------------------------------------------------------------------------------------------------------------------------------------------|
+
+[2]
+Measurement mode: 3 data mode
+Packet length: 32 bytes
+Altitude data used: 4,5 bytes
+|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| BYTE |   0    |   1    |    2     |    3     |    4     |    5     | 6 | 7 | 8 | 9 |     10    |     11    |    12    |    13    | 14| 15| 16| 17|     18    |     19    |    20    |    21    | 22| 23| 24| 25|     26    |     27    |    28     |    29     |  30   |  31   |
+|------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| NAME | header | header | version  |  frame   | altitude | altitude |    reserved   | FFT value | FFT value | altitude | altitude |    reserved   | FFT value | FFT value | altitude | altitude |    reserved   | FFT value | FFT value |  status   |  status   |  CRC  |  CRC  |
+|      |  (H)   |  (L)   |          |  count   |    (H)   |    (L)   |               |    (H)    |    (L)    |    (H)   |    (L)   |               |    (H)    |    (L)    |    (H)   |    (L)   |               |    (H)    |    (L)    |    (H)    |    (L)    |  (L)  |  (H)  |
+|------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+|      |        |        |          |          |                     |               |                       |                     |               |                       |                     |               |                       | BIT 15to8: reserved   |               |
+|      |        |        |          | unsigned |       unsigned      |               |       unsigned        |       unsigned      |               |       unsigned        |       unsigned      |               |       unsigned        | BIT 7to4: GAIN detail |   CRC result  |
+| DATA |  'R'   |  'B'   | 0 to 255 | 0 to 255 |      LSB;0.01 m     |      N/A      |        LSB:1          |      LSB;0.01 m     |      N/A      |        LSB:1          |      LSB;0.01 m     |      N/A      |        LSB:1          | BIT 3-2: reserved     |   from BYTE   |
+|      |        |        |          |          |      0 to 65535     |               |      0 to 65535       |      0 to 65535     |               |      0 to 65535       |      0 to 65535     |               |      0 to 65535       | BIT 1: TRK / NTRK     |    0 to 13    |
+|      |        |        |          |          |                     |               |                       |                     |               |                       |                     |               |                       | BIT 0: GAIN LOW/HIGH  |               |
+|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+
+[3]
+Measurement mode: 5 data mode
+Packet length: 48 bytes
+Altitude data used: 4,5 bytes
+|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| BYTE |   0    |   1    |    2     |    3     |    4     |    5     | 6 | 7 | 8 | 9 |     10    |     11    |    12    |    13    | 14| 15| 16| 17|     18    |     19    |    20    |    21    | 22| 23| 24| 25|     26    |     27    |    28    |    29    | 30| 31| 32| 33|     34    |     35    |    36    |    37    | 38| 39| 40| 41|     42    |     43    |    44     |    45     |  46   |  47   |
+|------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| NAME | header | header | version  |  frame   | altitude | altitude |    reserved   | FFT value | FFT value | altitude | altitude |    reserved   | FFT value | FFT value | altitude | altitude |    reserved   | FFT value | FFT value | altitude | altitude |    reserved   | FFT value | FFT value | altitude | altitude |    reserved   | FFT value | FFT value |  status   |  status   |  CRC  |  CRC  |
+|      |  (H)   |  (L)   |          |  count   |    (H)   |    (L)   |               |    (H)    |    (L)    |    (H)   |    (L)   |               |    (H)    |    (L)    |    (H)   |    (L)   |               |    (H)    |    (L)    |    (H)   |    (L)   |               |    (H)    |    (L)    |    (H)   |    (L)   |               |    (H)    |    (L)    |    (H)    |    (L)    |  (L)  |  (H)  |
+|------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+|      |        |        |          |          |                     |               |                       |                     |               |                       |                     |               |                       |                     |               |                       |                     |               |                       | BIT 15to8: reserved   |               |
+|      |        |        |          | unsigned |       unsigned      |               |       unsigned        |       unsigned      |               |       unsigned        |       unsigned      |               |       unsigned        |       unsigned      |               |       unsigned        |       unsigned      |               |       unsigned        | BIT 7to4: GAIN detail |   CRC result  |
+| DATA |  'R'   |  'C'   | 0 to 255 | 0 to 255 |      LSB;0.01 m     |      N/A      |        LSB:1          |      LSB;0.01 m     |      N/A      |        LSB:1          |      LSB;0.01 m     |      N/A      |        LSB:1          |      LSB;0.01 m     |      N/A      |        LSB:1          |      LSB;0.01 m     |      N/A      |        LSB:1          | BIT 3-2: reserved     |   from BYTE   |
+|      |        |        |          |          |      0 to 65535     |               |      0 to 65535       |      0 to 65535     |               |      0 to 65535       |      0 to 65535     |               |      0 to 65535       |      0 to 65535     |               |      0 to 65535       |      0 to 65535     |               |      0 to 65535       | BIT 1: TRK / NTRK     |    0 to 13    |
+|      |        |        |          |          |                     |               |                       |                     |               |                       |                     |               |                       |                     |               |                       |                     |               |                       | BIT 0: GAIN LOW/HIGH  |               |
+|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+*/
+#define DATA_LENGTH 16
+
+class AP_RangeFinder_JRE_Serial : public AP_RangeFinder_Backend_Serial
+{
+
+public:
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params)
+    {
+        return new AP_RangeFinder_JRE_Serial(_state, _params);
+    }
+
+protected:
+
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
+    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override
+    {
+        return MAV_DISTANCE_SENSOR_RADAR;
+    }
+
+    bool get_signal_quality_pct(int8_t &quality_pct) const override {
+        quality_pct = no_signal ? 0 : 100;
+        return true;
+    }
+
+private:
+
+    // get a reading
+    bool get_reading(float &reading_m) override;
+
+    uint8_t read_num;
+    uint8_t read_buff[DATA_LENGTH * 10];
+    uint8_t read_buff_idx;
+    uint8_t data_buff[DATA_LENGTH * 3];  // maximum frame length
+    uint8_t data_buff_idx;
+    uint8_t data_buff_len;
+
+    bool no_signal;
+};
+#endif  // AP_RANGEFINDER_JRE_SERIAL_ENABLED