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SITL: Add simulated nooploop tofsense

This commit is contained in:
rishabsingh3003 2023-06-17 00:00:24 +05:30 committed by Randy Mackay
parent 9e5b75be31
commit 6b8dfdfc10
2 changed files with 81 additions and 0 deletions
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49
libraries/SITL/SIM_RF_NoopLoop.cpp Normal file
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/*
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/>.
*/
/*
Base class for simulator for the NoopLoop TOFSense-F/P Serial RangeFinders
*/
#include "SIM_RF_NoopLoop.h"
using namespace SITL;
uint32_t RF_Nooploop::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
{
int32_t alt_scaled = 2560*alt_cm;
buffer[0] = 0x57;
buffer[1] = 0x00;
buffer[2] = 0xff;
buffer[3] = 0x00;
buffer[4] = 0x9e;
buffer[5] = 0x8f;
buffer[6] = 0x00;
buffer[7] = 0x00;
buffer[8] = alt_scaled >> 8 & 0xff;
buffer[9] = alt_scaled >> 16 & 0xff;
buffer[10] = alt_scaled >> 24 & 0xff;
buffer[11] = 0x00;
buffer[12] = 0x03;
buffer[13] = 0x00;
buffer[14] = 0x06;
// calculate checksum:
buffer[15] = 0;
for (uint8_t i=0; i<15; i++) {
buffer[15] += buffer[i];
}
return 16;
}

32
libraries/SITL/SIM_RF_NoopLoop.h Normal file
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/*
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/>.
*/
/*
Base class for simulator for the NoopLoop TOFSense-F/P Serial RangeFinders
*/
#pragma once
#include "SIM_SerialRangeFinder.h"
namespace SITL {
class RF_Nooploop : public SerialRangeFinder {
public:
uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
};
}