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AP_Proximity: LightWareSF40C used intermediate serial class

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Peter Barker 2019-12-06 12:00:37 +11:00 committed by Randy Mackay
parent fcdb833f46
commit 788e466c90
2 changed files with 6 additions and 32 deletions
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25
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
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@ -16,7 +16,6 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h> #include <AP_HAL/utility/sparse-endian.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Math/crc.h> #include <AP_Math/crc.h>
#include "AP_Proximity_LightWareSF40C.h" #include "AP_Proximity_LightWareSF40C.h"
@ -24,30 +23,6 @@ extern const AP_HAL::HAL& hal;
#define PROXIMITY_SF40C_HEADER 0xAA #define PROXIMITY_SF40C_HEADER 0xAA
#define PROXIMITY_SF40C_DESIRED_OUTPUT_RATE 3 #define PROXIMITY_SF40C_DESIRED_OUTPUT_RATE 3
#define PROXIMITY_SF40C_UART_RX_SPACE 1280
/*
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_LightWareSF40C::AP_Proximity_LightWareSF40C(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) {
// start uart with larger receive buffer
_uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0), PROXIMITY_SF40C_UART_RX_SPACE, 0);
}
}
// detect if a Lightware proximity sensor is connected by looking for a configured serial port
bool AP_Proximity_LightWareSF40C::detect()
{
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
}
// update the state of the sensor // update the state of the sensor
void AP_Proximity_LightWareSF40C::update(void) void AP_Proximity_LightWareSF40C::update(void)

13
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h
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@ -1,22 +1,22 @@
#pragma once #pragma once
#include "AP_Proximity.h" #include "AP_Proximity.h"
#include "AP_Proximity_Backend.h" #include "AP_Proximity_Backend_Serial.h"
#define PROXIMITY_SF40C_TIMEOUT_MS 200 // requests timeout after 0.2 seconds #define PROXIMITY_SF40C_TIMEOUT_MS 200 // requests timeout after 0.2 seconds
#define PROXIMITY_SF40C_PAYLOAD_LEN_MAX 256 // maximum payload size we can accept (in some configurations sensor may send as large as 1023) #define PROXIMITY_SF40C_PAYLOAD_LEN_MAX 256 // maximum payload size we can accept (in some configurations sensor may send as large as 1023)
#define PROXIMITY_SF40C_COMBINE_READINGS 7 // combine this many readings together to improve efficiency #define PROXIMITY_SF40C_COMBINE_READINGS 7 // combine this many readings together to improve efficiency
class AP_Proximity_LightWareSF40C : public AP_Proximity_Backend class AP_Proximity_LightWareSF40C : public AP_Proximity_Backend_Serial
{ {
public: public:
// constructor // constructor
AP_Proximity_LightWareSF40C(AP_Proximity &_frontend, using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
AP_Proximity::Proximity_State &_state);
// static detection function uint16_t rxspace() const override {
static bool detect(); return 1280;
};
// update state // update state
void update(void) override; void update(void) override;
@ -105,7 +105,6 @@ private:
void process_message(); void process_message();
// internal variables // internal variables
AP_HAL::UARTDriver *_uart; // uart for communicating with sensor
uint32_t _last_request_ms; // system time of last request uint32_t _last_request_ms; // system time of last request
uint32_t _last_reply_ms; // system time of last valid reply uint32_t _last_reply_ms; // system time of last valid reply
uint32_t _last_restart_ms; // system time we restarted the sensor uint32_t _last_restart_ms; // system time we restarted the sensor