mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.4 KiB
C
52 lines
1.4 KiB
C
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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#include <GCS_MAVLink/GCS.h>
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// default slave address
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#define LEDDARONE_DEFAULT_ADDRESS 0x01
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// error codes
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#define LEDDARONE_ERR_BAD_CRC -1
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#define LEDDARONE_ERR_NO_RESPONSES -2
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#define LEDDARONE_ERR_BAD_RESPONSE -3
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#define LEDDARONE_ERR_SHORT_RESPONSE -4
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#define LEDDARONE_ERR_SERIAL_PORT -5
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#define LEDDARONE_ERR_NUMBER_DETECTIONS -6
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class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_LeddarOne(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state,
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AP_SerialManager &serial_manager);
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// static detection function
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static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager);
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// update state
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void update(void);
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private:
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// get a reading
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bool get_reading(uint16_t &reading_cm);
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// CRC16
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bool CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck);
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// send a request message to execute ModBus function
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int8_t send_request(void);
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// parse a response message from ModBus
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int8_t parse_response(void);
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AP_HAL::UARTDriver *uart = nullptr;
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uint32_t last_reading_ms = 0;
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uint16_t detections[3];
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uint32_t sum_distance = 0;
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};
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