Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 01:33:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Proximity: RPLidarA2 uses intermediate serial class

Browse Source
This commit is contained in:
Peter Barker 2019-12-04 15:53:05 +11:00 committed by Randy Mackay
parent 788e466c90
commit 0d4e72622e
2 changed files with 3 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
View File

@ -28,7 +28,6 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_Proximity_RPLidarA2.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <ctype.h>
#include <stdio.h>
@ -64,32 +63,6 @@
extern const AP_HAL::HAL& hal;
/*
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_RPLidarA2::AP_Proximity_RPLidarA2(
AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state) :
AP_Proximity_Backend(_frontend, _state)
{
const AP_SerialManager &serial_manager = AP::serialmanager();
_uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
if (_uart != nullptr) {
_uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0));
}
_cnt = 0 ;
_sync_error = 0 ;
_byte_count = 0;
}
// detect if a RPLidarA2 proximity sensor is connected by looking for a configured serial port
bool AP_Proximity_RPLidarA2::detect()
{
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
}
// update the _rp_state of the sensor
void AP_Proximity_RPLidarA2::update(void)
{

10
libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
View File

@ -30,19 +30,16 @@
#pragma once
#include "AP_Proximity.h"
#include "AP_Proximity_Backend.h"
#include "AP_Proximity_Backend_Serial.h"
#include <AP_HAL/AP_HAL.h> ///< for UARTDriver
class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend
class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend_Serial
{
public:
// constructor
AP_Proximity_RPLidarA2(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
// static detection function
static bool detect();
using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
// update state
void update(void) override;
@ -79,7 +76,6 @@ private:
void reset_rplidar();
// reply related variables
AP_HAL::UARTDriver *_uart;
uint8_t _descriptor[7];
char _rp_systeminfo[63];
bool _descriptor_data;