mirror of https://github.com/ArduPilot/ardupilot
59 lines
2.2 KiB
C
59 lines
2.2 KiB
C
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#pragma once
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#include "AP_Beacon_Backend.h"
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#define NOOPLOOP_MSG_BUF_MAX 256
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class AP_Beacon_Nooploop : public AP_Beacon_Backend
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{
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public:
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AP_Beacon_Nooploop(AP_Beacon &frontend, AP_SerialManager &serial_manager);
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// return true if sensor is basically healthy (we are receiving data)
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bool healthy() override;
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// update the state of the sensor
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void update() override;
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private:
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enum class MsgType : uint8_t {
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INVALID = 0,
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NODE_FRAME2,
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SETTING_FRAME0
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};
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// process one byte received on serial port
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// message is stored in _msgbuf
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MsgType parse_byte(uint8_t b);
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// send setting_frame0 to tag. tag will ack setting_frame0 with anchor position filled
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void request_setting();
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// pase node_frame2 to get tag position and distance
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void parse_node_frame2();
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// parse setting_frame0 to get anchor position
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void parse_setting_frame0();
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enum class ParseState : uint8_t {
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HEADER = 0, // waiting for header
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H55_FUNCTION_MARK, // waiting for function mark
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H54_FUNCTION_MARK, // waiting for function mark
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LEN_L, // waiting for low byte of length
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LEN_H, // waiting for high byte of length
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NF2_PAYLOAD, // receiving payload bytes
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SF0_PAYLOAD, // receiving payload bytes
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} _state = ParseState::HEADER;
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// members
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AP_HAL::UARTDriver *_uart; // pointer to uart configured for use with nooploop
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uint8_t _msgbuf[NOOPLOOP_MSG_BUF_MAX]; // buffer to hold most recent message from tag
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uint16_t _msg_len; // number of bytes received from the current message (may be larger than size of _msgbuf)
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uint16_t _frame_len; // message supplied frame length
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uint8_t _crc_expected; // calculated crc which is compared against actual received crc
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uint32_t _last_update_ms; // last time we receive data from tag
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bool _anchor_pos_avail; // flag indicates if we got anchor position or not
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uint32_t _last_request_setting_ms; // last time we sent request_setting0 packet to tag
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};
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