Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: make LightWareSerial backend use new intermediate class

Browse Source
This commit is contained in:
Peter Barker 2019-11-01 17:12:26 +11:00 committed by Peter Barker
parent 3538fe360b
commit 692c89a972
2 changed files with 5 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
View File

@ -13,9 +13,9 @@
along with this program. If not, see <http://www.gnu.org/licenses/>. along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <AP_HAL/AP_HAL.h>
#include "AP_RangeFinder_LightWareSerial.h" #include "AP_RangeFinder_LightWareSerial.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_HAL/AP_HAL.h>
#include <ctype.h> #include <ctype.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -23,33 +23,6 @@ extern const AP_HAL::HAL& hal;
#define LIGHTWARE_DIST_MAX_CM 10000 #define LIGHTWARE_DIST_MAX_CM 10000
#define LIGHTWARE_OUT_OF_RANGE_ADD_CM 100 #define LIGHTWARE_OUT_OF_RANGE_ADD_CM 100
/*
The constructor also initialises the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state, _params)
{
const AP_SerialManager &serial_manager = AP::serialmanager();
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
}
}
/*
detect if a Lightware rangefinder is connected. We'll detect by
trying to take a reading on Serial. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_LightWareSerial::detect(uint8_t serial_instance)
{
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
}
// read - return last value measured by sensor // read - return last value measured by sensor
bool AP_RangeFinder_LightWareSerial::get_reading(uint16_t &reading_cm) bool AP_RangeFinder_LightWareSerial::get_reading(uint16_t &reading_cm)
{ {

12
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
View File

@ -1,19 +1,14 @@
#pragma once #pragma once
#include "RangeFinder.h" #include "RangeFinder.h"
#include "RangeFinder_Backend.h" #include "RangeFinder_Backend_Serial.h"
class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend_Serial
{ {
public: public:
// constructor
AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance);
// static detection function using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
static bool detect(uint8_t serial_instance);
// update state // update state
void update(void) override; void update(void) override;
@ -28,7 +23,6 @@ private:
// get a reading // get a reading
bool get_reading(uint16_t &reading_cm); bool get_reading(uint16_t &reading_cm);
AP_HAL::UARTDriver *uart = nullptr;
char linebuf[10]; char linebuf[10];
uint8_t linebuf_len = 0; uint8_t linebuf_len = 0;
uint32_t last_init_ms; uint32_t last_init_ms;