sonar_bebop.c

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/*
 * Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * 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, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */

#include "sonar_bebop.h"
#include "generated/airframe.h"
#include "mcu_periph/adc.h"
#include "mcu_periph/spi.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"
#include <pthread.h>
#include <unistd.h>
#include "subsystems/datalink/downlink.h"//FIXME, include only when link need

#include "filters/median_filter.h"

struct MedianFilterFloat sonar_filt;
uint32_t sonar_bebop_spike_timer;

#ifdef SITL
#include "state.h"
#endif

#define SONAR_BEBOP_INX_DIFF_TO_DIST 340./(2.*160000.)

#define SONAR_BEBOP_ADC_MAX_VALUE 4095

#define SONAR_BEBOP_ADC_BUFFER_SIZE 8192

static uint8_t mode;

#ifndef SONAR_BEBOP_TRANSITION_HIGH_TO_LOW
#define SONAR_BEBOP_TRANSITION_HIGH_TO_LOW 0.8
#endif

#ifndef SONAR_BEBOP_TRANSITION_LOW_TO_HIGH
#define SONAR_BEBOP_TRANSITION_LOW_TO_HIGH 1.2
#endif

#ifndef SONAR_BEBOP_TRANSITION_COUNT
#define SONAR_BEBOP_TRANSITION_COUNT 7
#endif

static uint8_t pulse_transition_counter;

#ifndef SONAR_BEBOP_PEAK_THRESHOLD
#define SONAR_BEBOP_PEAK_THRESHOLD 50
#endif

#ifndef SONAR_BEBOP_MIN_PEAK_VAL
#define SONAR_BEBOP_MIN_PEAK_VAL 512 // max value is 4096
#endif

#define SONAR_BEBOP_MAX_TRANS_TIME 370

static uint8_t sonar_bebop_spi_d[2][16] = {{ 0xF0, 0xF0, 0xF0, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
                                           { 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0x00, 0x00, 0x00, 0x00 }};
struct SonarBebop sonar_bebop;

static struct spi_transaction sonar_bebop_spi_t;
void *sonar_bebop_read(void *data);
#if SONAR_BEBOP_FILTER_NARROW_OBSTACLES
static float sonar_filter_narrow_obstacles(float distance_sonar);
#endif

void sonar_bebop_init(void)
{
  mode = 0; // default mode is low altitude
  pulse_transition_counter = 0;

  sonar_bebop.meas = 0;
  sonar_bebop.offset = 0;

  /* configure spi transaction */
  sonar_bebop_spi_t.status        = SPITransDone;
  sonar_bebop_spi_t.select        = SPISelectUnselect;
  sonar_bebop_spi_t.dss           = SPIDss8bit;
  sonar_bebop_spi_t.output_buf    = sonar_bebop_spi_d[mode];
  sonar_bebop_spi_t.output_length = 16;
  sonar_bebop_spi_t.input_buf     = NULL;
  sonar_bebop_spi_t.input_length  = 0;

  init_median_filter_f(&sonar_filt, 5);
#if SONAR_BEBOP_FILTER_NARROW_OBSTACLES
  SysTimeTimerStart(sonar_bebop_spike_timer);
#endif

#if USE_SONAR
  pthread_t tid;
  pthread_create(&tid, NULL, sonar_bebop_read, NULL);
#ifndef __APPLE__
  pthread_setname_np(tid, "sonar");
#endif
#endif
}

uint16_t adc_buffer[SONAR_BEBOP_ADC_BUFFER_SIZE];
void *sonar_bebop_read(void *data __attribute__((unused)))
{
  while (true) {
#ifndef SITL
    uint16_t i;

    /* Start ADC and send sonar output */
    adc_enable(&adc0, 1);
    sonar_bebop_spi_t.status = SPITransDone;
    usleep(100); //Sonar crashes without the delay once in a while :(
    sonar_bebop_spi_t.output_buf = sonar_bebop_spi_d[mode];
    spi_submit(&spi0, &sonar_bebop_spi_t);
    while (sonar_bebop_spi_t.status != SPITransSuccess);
    usleep(100); //Sonar crashes without the delay once in a while :(
    adc_read(&adc0, adc_buffer, SONAR_BEBOP_ADC_BUFFER_SIZE);
    adc_enable(&adc0, 0);

    /* Find the peaks */
    uint16_t start_send = 0;
    uint16_t stop_send = 0;
    uint16_t first_peak = 0;
    uint16_t lowest_value = SONAR_BEBOP_ADC_MAX_VALUE;
    uint16_t peak_value = 0;

    for (i = 0; i < SONAR_BEBOP_ADC_BUFFER_SIZE; i++) {
      uint16_t adc_val = adc_buffer[i] >> 4;
      if (start_send == 0 && adc_val >= SONAR_BEBOP_ADC_MAX_VALUE) {
        start_send = i;
      } else if (start_send && stop_send == 0 && adc_val < SONAR_BEBOP_ADC_MAX_VALUE - SONAR_BEBOP_MIN_PEAK_VAL) {
        stop_send = i - 1;
        i += SONAR_BEBOP_PEAK_THRESHOLD;
        continue;
      }

      if (start_send != 0 && stop_send != 0 && first_peak == 0 && adc_val < lowest_value) {
        lowest_value = adc_val; // find trough from initial broadcast signal
      } else if (start_send != 0 && stop_send != 0 && adc_val > lowest_value + 100 && adc_val > peak_value) {
        first_peak = i;
        peak_value = adc_val;
      }
    }

    /* Calculate the distance from the peeks */
    uint16_t diff = stop_send - start_send;
    if (diff && diff < SONAR_BEBOP_MAX_TRANS_TIME
        && peak_value > SONAR_BEBOP_MIN_PEAK_VAL) {
      sonar_bebop.meas = (uint16_t)(first_peak - (stop_send - diff / 2));
      sonar_bebop.distance = update_median_filter_f(&sonar_filt, (float)sonar_bebop.meas * SONAR_BEBOP_INX_DIFF_TO_DIST);

      // set sonar pulse mode for next pulse based on altitude
      if (mode == 0 && sonar_bebop.distance > SONAR_BEBOP_TRANSITION_LOW_TO_HIGH) {
        if (++pulse_transition_counter > SONAR_BEBOP_TRANSITION_COUNT) {
          mode = 1;
          pulse_transition_counter = 0;
        }
      } else if (mode == 1 && sonar_bebop.distance < SONAR_BEBOP_TRANSITION_HIGH_TO_LOW) {
        if (++pulse_transition_counter > SONAR_BEBOP_TRANSITION_COUNT) {
          mode = 0;
          pulse_transition_counter = 0;
        }
      } else {
        pulse_transition_counter = 0;
      }

#if SONAR_COMPENSATE_ROTATION
      float phi = stateGetNedToBodyEulers_f()->phi;
      float theta = stateGetNedToBodyEulers_f()->theta;
      float gain = (float)fabs( (double) (cosf(phi) * cosf(theta)));
      sonar_bebop.distance =  sonar_bebop.distance * gain;
#endif

#else // SITL
      sonar_bebop.distance = stateGetPositionEnu_f()->z;
      Bound(sonar_bebop.distance, 0.1f, 7.0f);
      sonar_bebop.meas = (uint16_t)(sonar_bebop.distance / SONAR_BEBOP_INX_DIFF_TO_DIST);
#endif // SITL

#if SONAR_BEBOP_FILTER_NARROW_OBSTACLES
      sonar_bebop.distance = sonar_filter_narrow_obstacles(sonar_bebop.distance);
#endif

      // Send ABI message
      uint32_t now_ts = get_sys_time_usec();
      AbiSendMsgAGL(AGL_SONAR_ADC_ID, now_ts, sonar_bebop.distance);

#ifdef SENSOR_SYNC_SEND_SONAR
      // Send Telemetry report
      DOWNLINK_SEND_SONAR(DefaultChannel, DefaultDevice, &sonar_bebop.meas, &sonar_bebop.distance);
#endif

#ifndef SITL
    }
#endif
    usleep(10000); //100Hz  FIXME: use SYS_TIME_FREQUENCY and divisor
  }
  return NULL;
}

#if SONAR_BEBOP_FILTER_NARROW_OBSTACLES

#ifndef SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP
#define SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP 0.4f
#endif
PRINT_CONFIG_VAR(SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP)

#ifndef SONAR_BEBOP_FILTER_NARROW_OBSTACLES_TIME
#define SONAR_BEBOP_FILTER_NARROW_OBSTACLES_TIME 1.0f
#endif
PRINT_CONFIG_VAR(SONAR_BEBOP_FILTER_NARROW_OBSTACLES_TIME)

static float sonar_filter_narrow_obstacles(float distance_sonar)
{
  static float previous_distance = 0;
  static float z0 = 0;
  bool obstacle_is_in_view = false;
  float diff_pre_cur = distance_sonar - previous_distance;
  if (diff_pre_cur < -SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP) {
    z0 = previous_distance;
    obstacle_is_in_view = true;
    SysTimeTimerStart(sonar_bebop_spike_timer);
  }
  previous_distance = distance_sonar;
  float time_since_reset = SysTimeTimer(sonar_bebop_spike_timer);
  if ((diff_pre_cur > SONAR_BEBOP_FILTER_NARROW_OBSTACLES_JUMP) || (time_since_reset > USEC_OF_SEC(SONAR_BEBOP_FILTER_NARROW_OBSTACLES_TIME)) ) {

    obstacle_is_in_view = false;
  }

  if (obstacle_is_in_view) {
    return z0;
  } else {
    return distance_sonar;
  }
}
#endif