ardupilot/libraries/AP_Proximity/AP_Proximity_Backend_Serial...

49 lines
2.2 KiB
C++
Raw Normal View History

/*
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_Proximity_Backend_Serial.h"
#if HAL_PROXIMITY_ENABLED
#include <AP_SerialManager/AP_SerialManager.h>
/*
The constructor also initialises the proximity sensor. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the proximity sensor
*/
AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_Proximity_Params &_params,
uint8_t serial_instance) :
AP_Proximity_Backend(_frontend, _state, _params)
{
const AP_SerialManager &serial_manager = AP::serialmanager();
_uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, serial_instance);
if (_uart != nullptr) {
// start uart with larger receive buffer
_uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, serial_instance), rxspace(), 0);
}
}
// static detection function
// detect if a proximity sensor is connected by looking for a configured serial port
// serial_instance affects which serial port is used. Should be 0 or 1 depending on whether this is the 1st or 2nd proximity sensor with a serial interface
bool AP_Proximity_Backend_Serial::detect(uint8_t serial_instance)
{
return AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_Lidar360, serial_instance);
}
#endif // HAL_PROXIMITY_ENABLED