mirror of https://github.com/ArduPilot/ardupilot
67 lines
2.1 KiB
C++
67 lines
2.1 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulator for the BLping rangefinder
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*/
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#include "SIM_RF_BLping.h"
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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using namespace SITL;
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uint32_t RF_BLping::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
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{
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#define BLPING_MSGID_ACK 1
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#define BLPING_MSGID_NACK 2
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#define BLPING_MSGID_SET_PING_INTERVAL 1004
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#define BLPING_MSGID_GET_DEVICE_ID 1201
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#define BLDPIN_MSGID_DISTANCE_SIMPLE 1211
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#define BLPING_MSGID_CONTINUOUS_START 1400
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const uint32_t alt_mm = uint32_t(alt_cm * 10);
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const uint8_t payload[] = {
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uint8_t(alt_mm & 0xff),
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uint8_t((alt_mm >> 8) & 0xff),
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uint8_t((alt_mm >> 16) & 0xff),
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uint8_t((alt_mm >> 24) & 0xff),
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};
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const uint16_t message_id = BLDPIN_MSGID_DISTANCE_SIMPLE;
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const uint8_t src_device_id = 1;
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const uint8_t dst_device_id = 0;
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uint16_t offs = 0;
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buffer[offs++] = 0x42;
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buffer[offs++] = 0x52;
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buffer[offs++] = ARRAY_SIZE(payload) & 0xff;
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buffer[offs++] = ARRAY_SIZE(payload) >> 8;
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buffer[offs++] = message_id & 0xff;
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buffer[offs++] = message_id >> 8;
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buffer[offs++] = src_device_id;
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buffer[offs++] = dst_device_id;
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memcpy(&buffer[offs], payload, ARRAY_SIZE(payload));
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offs += ARRAY_SIZE(payload);
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uint16_t crc = 0;
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for (uint8_t i=0; i<offs; i++) {
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crc += buffer[i];
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}
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buffer[offs++] = crc & 0xff;
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buffer[offs++] = crc >> 8;
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return offs;
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}
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