Common: add JAE JRE-30 radar

common/source/docs/common-master-features.rst

@@ -13,21 +13,23 @@ This lists features or changes merged in master and build in the "latest" firmwa
 .. toctree::
     :maxdepth: 1
 
-    Xacti Camera Gimbals <common-xacti-gimbal>
+    JAE JRE-30 <common-rangefinder-jae-jre-30>
     Nooploop TOF-Sense P <common-rangefinder-nooploop-tofsense-p>
     Nooploop TOF-Sense F <common-rangefinder-nooploop-tofsense-f>
     Nanoradar NRA24 <common-rangefinder-nra24>
+    Xacti Camera Gimbals <common-xacti-gimbal>
     Other wiki changes <common-future-wiki-changes>
 [/site]
 [site wiki="rover"]
 
 .. toctree::
     :maxdepth: 1
 
-    Xacti Camera Gimbals <common-xacti-gimbal>
+    JAE JRE-30 <common-rangefinder-jae-jre-30>
     Nooploop TOF-Sense P <common-rangefinder-nooploop-tofsense-p>
     Nooploop TOF-Sense F <common-rangefinder-nooploop-tofsense-f>
     Nanoradar NRA24 <common-rangefinder-nra24>
+    Xacti Camera Gimbals <common-xacti-gimbal>
     Other wiki changes <common-future-wiki-changes>
     New Circle Mode <circle-mode>
 [/site]

common/source/docs/common-rangefinder-jae-jre-30.rst

@@ -0,0 +1,70 @@
+.. _common-rangefinder-jae-jre-30:
+
+================
+JAE JRE-30 Radar
+================
+
+The JAE (Japan Aviation Electronics Industry) JRE-30 radar is a light weight (110g) radar with a maximum range of over 50m.  The relatively wide beam width (about 20 deg) and reliable ranging even in difficult environments can make it a better choice than lidar for some applications.
+
+Where to Buy
+============
+
+The JAE JRE-30 radar can be purchased directly from `JAE <https://www.jae.com/en/>`__.  Note that it is only certified for use in Japan.
+
+Specifications
+==============
+
+- Size: 75mm x 77mm x 19mm
+- Weight: 110g
+- Power consumption: under 500mA
+- Input voltage: 4.75V ~ 15V
+- Range: 0.1m ~ 95m
+- Accuracy: +- 10cm
+- Update rate: 50hz
+- Antenna: 23 deg / 31 deg
+- Frequency: 24.05 ~ 24.25 Ghz (190Mhz)
+
+Connection to Autopilot
+=======================
+
+The radar has an 12-pin PicobBlade Molex connector with the following pinout
+
++--------+--------+------------------------+
+| Pin No | Name   | Details                |
++========+========+========================+
+|   1    | VCC    | 4.75 - 15V input       |
++--------+--------+------------------------+
+|   2    | GND    |                        |
++--------+--------+------------------------+
+|   3    | TxD    | UART Tx                |
++--------+--------+------------------------+
+|   4    | GND    |                        |
++--------+--------+------------------------+
+|   5    | RxD    | UART Rx                |
++--------+--------+------------------------+
+|   6    | GND    |                        |
++--------+--------+------------------------+
+|   7    | CAN_H  | CAN High               |
++--------+--------+------------------------+
+|   8    | CAN_L  | CAN Low                |
++--------+--------+------------------------+
+|  9~12  | NC     | Not connected          |
++--------+--------+------------------------+
+
+
+If you choose to build a custom cable BPH-002T-PO.5S socket connectors should be used.
+
+.. image:: ../../../images/jae-jre-30-autopilot.png
+    :target: ../_images/jae-jre-30-autopilot.png
+    :width: 450px
+
+Setup
+=====
+
+Set the following parameters which assume the radar is connected to the autopilot's Serial1 port
+
+- Set :ref:`SERIAL1_PROTOCOL<SERIAL1_PROTOCOL>` =  9 (Rangefinders)
+- Set :ref:`SERIAL1_BAUD<SERIAL1_BAUD>` = 460 (460800 Baud)
+- Set :ref:`RNGFND1_TYPE<RNGFND1_TYPE>` = 41 (JRE Serial)
+- Set :ref:`RNGFND1_MIN_CM<RNGFND1_MIN_CM>` = 10 (cm)
+- Set :ref:`RNGFND1_MAX_CM<RNGFND1_MAX_CM>` = 5000 (cm)