wip

.gitmodules

@@ -39,3 +39,6 @@
 	path = modules/Micro-CDR
 	url = https://github.com/ardupilot/Micro-CDR.git
 	branch = master
+[submodule "modules/drivers/broadcom/AFBR-S50"]
+	path = modules/drivers/broadcom/AFBR-S50
+	url = [email protected]:Broadcom/AFBR-S50-API.git

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_Broadcom_AFBR_S50.h"
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Logger/AP_Logger.h>
@@ -556,6 +557,10 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         _add_backend(new AP_RangeFinder_NRA24_CAN(state[instance], params[instance]), instance);
 #endif
         break;
+    case Type::Broadcom_AFBRS50:
+        if (AP_RangeFinder_Broadcom_AFBRS50::detect()) {
+            _add_backend(new AP_RangeFinder_Broadcom_AFBRS50(state[instance], params[instance]), instance);
+        }
 
     case Type::NONE:
         break;

libraries/AP_RangeFinder/AP_RangeFinder.h

@@ -96,6 +96,7 @@ class RangeFinder
         NoopLoop_P = 37,
         TOFSenseP_CAN = 38,
         NRA24_CAN = 39,
+        Broadcom_AFBRS50 = 40,
         SIM = 100,
     };
 

libraries/AP_RangeFinder/AP_RangeFinder_Broadcom_AFBR_S50.cpp

@@ -0,0 +1,21 @@
+#include "AP_RangeFinder_config.h"
+
+#include "AP_RangeFinder_Broadcom_AFBR_S50.h"
+#include <AP_HAL/AP_HAL.h>
+
+// constructor
+AP_RangeFinder_Broadcom_AFBRS50::AP_RangeFinder_Broadcom_AFBRS50(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+    AP_RangeFinder_Backend(_state, _params)
+{
+    _hnd = Argus_CreateHandle();
+}
+
+bool AP_RangeFinder_Broadcom_AFBRS50::detect()
+{
+    return true;
+}
+
+void AP_RangeFinder_Broadcom_AFBRS50::update(void)
+{
+
+}

libraries/AP_RangeFinder/AP_RangeFinder_Broadcom_AFBR_S50.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include "argus.h"
+
+#include "AP_RangeFinder_Backend.h"
+
+class AP_RangeFinder_Broadcom_AFBRS50 : public AP_RangeFinder_Backend
+{
+public:
+
+    // constructor
+    AP_RangeFinder_Broadcom_AFBRS50(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+
+    // detect
+    static bool detect();
+
+    // update state
+    void update(void) override;
+
+private:
+    float _distance_m; // stored data
+
+    argus_hnd_t *_hnd;
+	argus_mode_t _mode{ARGUS_MODE_SHORT_RANGE}; // Short-Range
+
+protected:
+    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
+        return MAV_DISTANCE_SENSOR_LASER;
+    }
+};

libraries/AP_RangeFinder/wscript

@@ -0,0 +1,27 @@
+
+
+from waflib.TaskGen import after_method, before_method, feature
+import os
+import shutil
+
+
+def configure(cfg):
+    """test"""
+
+
+def build(bld):
+    RANGEFINDER_LIBS = {
+    'cortex-m4' : 'libafbrs50_m4_fpu.a'
+    }
+    if bld.env.CORTEX in RANGEFINDER_LIBS:
+        path_AFBR_S50 = 'modules/drivers/broadcom/AFBR-S50/AFBR-S50'
+        libname = RANGEFINDER_LIBS[bld.env.CORTEX]
+        # we need to copy the library on cygwin as it doesn't handle linking outside build tree
+        shutil.copyfile(os.path.join(bld.env.SRCROOT, path_AFBR_S50, "Lib", libname),
+        os.path.join(bld.env.BUILDROOT,'libraries/AP_RangeFinder/libAFBR-S50-API.a'))
+        bld.env.LIB += ['AFBR-S50-API']
+        bld.env.LIBPATH += ['libraries/AP_RangeFinder']
+        bld.env.INCLUDES += [os.path.join(bld.env.SRCROOT, path_AFBR_S50, "Include")]
+
+
+

wscript

@@ -538,6 +538,7 @@ def configure(cfg):
     else:
         cfg.end_msg('maybe')
     cfg.recurse('libraries/AP_Scripting')
+    cfg.recurse('libraries/AP_RangeFinder')
 
     cfg.recurse('libraries/AP_GPS')
     cfg.recurse('libraries/AP_HAL_SITL')
@@ -791,6 +792,7 @@ def _build_recursion(bld):
             dirs_to_recurse.append('Tools/AP_Periph')
 
     dirs_to_recurse.append('libraries/AP_Scripting')
+    dirs_to_recurse.append('libraries/AP_RangeFinder')
 
     if bld.env.ENABLE_ONVIF:
         dirs_to_recurse.append('libraries/AP_ONVIF')