mirror of https://github.com/ArduPilot/ardupilot
AP_RangeFinder: TFMiniPlus: enforce minimum version 1.7.6
On this version of the firmware the command changed - support the new command and only that one: it's not expected to have devices with the older versions.
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@ -99,6 +99,12 @@ bool AP_RangeFinder_Benewake_TFMiniPlus::init()
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goto fail;
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}
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if (val[5] * 10000 + val[4] * 100 + val[3] < 10706) {
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hal.console->printf(DRIVER ": minimum required FW version 1.7.6, but version %u.%u.%u found\n",
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val[5], val[4], val[3]);
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goto fail;
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}
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hal.console->printf(DRIVER ": found fw version %u.%u.%u\n",
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val[5], val[4], val[3]);
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@ -143,12 +149,12 @@ void AP_RangeFinder_Benewake_TFMiniPlus::update()
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}
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}
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bool AP_RangeFinder_Benewake_TFMiniPlus::process_raw_measure(be16_t distance_raw, be16_t strength_raw,
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bool AP_RangeFinder_Benewake_TFMiniPlus::process_raw_measure(le16_t distance_raw, le16_t strength_raw,
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uint16_t &output_distance_cm)
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{
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uint16_t strength = be16toh(strength_raw);
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uint16_t strength = le16toh(strength_raw);
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output_distance_cm = be16toh(distance_raw);
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output_distance_cm = le16toh(distance_raw);
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if (strength < 100 || strength == 0xFFFF) {
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return false;
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@ -176,15 +182,14 @@ void AP_RangeFinder_Benewake_TFMiniPlus::timer()
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uint8_t CMD_READ_MEASUREMENT[] = { 0x5A, 0x05, 0x00, 0x07, 0x66 };
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union {
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struct PACKED {
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uint8_t header;
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uint8_t len;
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be16_t distance;
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be16_t strength;
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uint8_t reserved1;
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le16_t timestamp;
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uint8_t header1;
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uint8_t header2;
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le16_t distance;
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le16_t strength;
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le32_t timestamp;
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uint8_t checksum;
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} val;
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uint8_t arr[10];
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uint8_t arr[11];
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} u;
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bool ret;
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uint16_t distance;
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@ -194,7 +199,7 @@ void AP_RangeFinder_Benewake_TFMiniPlus::timer()
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return;
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}
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if (u.val.header != 0x5a || u.val.len != 0x0a || !check_checksum(u.arr, sizeof(u)))
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if (u.val.header1 != 0x59 || u.val.header2 != 0x59 || !check_checksum(u.arr, sizeof(u)))
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return;
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if (process_raw_measure(u.val.distance, u.val.strength, distance)) {
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