AP_RangeFinder: add support for RDS02UF radar driver on seria

[zebulon-86]

Summary

Resubmit pull request，relevant : #22385
Adding new features
AP_RangeFinder:add support for RDS02UF radar driver on serial。

Documentation

Product URL：Microbrain Intelligent
Related Manuals:【Benewake(北醒)】毫米波雷达在无人机上避障资料汇总
Here are the dumped Manuals:RDS02U_Uart_Manual
For PDF:RDS02U

Change

Some tweaks to the code related to #22385

libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.h

#if RDS02_USE_CRC
    const uint8_t crc8_table[256] = {
    0x93,0x98,0xE4,0x46,0xEB,0xBA,0x04,0x4C,

The CRC table takes up too much flash space,so added the define of whether to enable CRC, which is not enabled by default, and only use the frame header and frame tail to judge the integrity of the frame. It is not a big problem not to do CRC when the serial communication is stable. Users can also choose to enable CRC according to the hardware situation.

[magicrub]

Why not use existing crc functions?

[zebulon-86]

Why not use existing crc functions?

Because the crc8_table used by this sensor is a fixed value defined by the manufacturer, it cannot be calculated by the formula

[rmackay9]

Hi @zebulon-86,

It looks like this is failing CI because of a problem with a definition.

[ 469/1015] Compiling libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
../../libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.cpp:155:13: error: "RDS02_USE_CRC" is not defined, evaluates to 0 [-Werror=undef]
155 | #if RDS02_USE_CRC
| ^~~~~~~~~~~~~

[Hwurzburg]

this has no metadata update to the rf type param

[zebulon-86]

Hi @zebulon-86,

It looks like this is failing CI because of a problem with a definition.

[ 469/1015] Compiling libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp ../../libraries/AP_RangeFinder/AP_RangeFinder_RDS02UF.cpp:155:13: error: "RDS02_USE_CRC" is not defined, evaluates to 0 [-Werror=undef] 155 | #if RDS02_USE_CRC | ^~~~~~~~~~~~~

Hi @rmackay9 ,
I added in build_options.py

Feature('Rangefinder', 'RANGEFINDER_RDS02UF', 'AP_RANGEFINDER_RDS02UF_ENABLED', "Enable Rangefinder - RDS02UF", 0, "RANGEFINDER"), # NOQA: E501

Added #if AP_RANGEFINDER_RDS02UF_ENABLED in AP_RangeFinder_RDS02UF.cpp, now All checks have passed

[zebulon-86]

this has no metadata update to the rf type param

@Hwurzburg
Sorry, I don't quite understand which one this refers to specifically. Is it the following definition?

MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
    return MAV_DISTANCE_SENSOR_RADAR;
}

[Hwurzburg]

add metadata in

ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp

Line 15 in 8653bf7

// @Param: TYPE

[rishabsingh3003]

From Dev Call discussion - Redo the implementation with structure

[tridge]

@peterbarker will review parser and merge

[rishabsingh3003]

Added "memchr"

[peterbarker]

Please test this with a little bit of corruption, make sure it still generally works (AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED). Run under valgrind when doing this.

[rishabsingh3003]

rebased, and fixed the pending comments

[rishabsingh3003]

Also tested with, AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED and valgrind. Works well.
Tested with real sensor connected to SITL as well.

[peterbarker]

Suggested change

	// reset buffer
	body_length = 0;
	// consume packet
	move_header_in_buffer(sizeof(u.packet));

The current fixed size makes this NFC, but if we wanted to be able to read multiple packets at once this would be required....

[peterbarker]

Suggested change

	if (body_length < ARRAY_SIZE(u.parse_buffer)) {
	if (body_length < sizeof(u.packet)) {

... this is, after all, exactly what you're interested in.

The parse buffer can be larger than the packet, allowing for multiple packets to be read in at once (and different packets to be parsed out of the same buffer, of course)

[peterbarker]

Technically we really should mark this as PACKED. Since all members are 8-byte quantities it doesn't really matter.

[peterbarker]

Merged, thanks all!

[Hwurzburg]

@zebulon-86 I can find no vendor offering this device and Benewake does not list on its web page.....I cant see any reason to have a wiki entry for this device since its not available

[rishabsingh3003]

@Hwurzburg I believe Benewake plans to sell these. We have a chat with them where we could ask

[Hwurzburg]

@rishabsingh3003 I see no chat in Skype or Discord for them.....if someone can give me a link as to where to obtain this device, I will create a wiki page and entry then