ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Seri...

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/*
This program 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 3 of the License, or
(at your option) any later version.
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_RangeFinder_Backend_Serial.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <ctype.h>
extern const AP_HAL::HAL& hal;
/*
The constructor also initialises the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial(
RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params) :
AP_RangeFinder_Backend(_state, _params)
{
}
void AP_RangeFinder_Backend_Serial::init_serial(uint8_t serial_instance)
{
uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) {
uart->begin(initial_baudrate(serial_instance), rx_bufsize(), tx_bufsize());
}
}
uint32_t AP_RangeFinder_Backend_Serial::initial_baudrate(const uint8_t serial_instance) const
{
return AP::serialmanager().find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
}
/*
update the state of the sensor
*/
void AP_RangeFinder_Backend_Serial::update(void)
{
if (get_reading(state.distance_m)) {
// update range_valid state based on distance measured
state.last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > read_timeout_ms()) {
set_status(RangeFinder::Status::NoData);
}
}