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AP_RangeFilnder: moved the const buffer definition to the header and changed from '8' to 'sizeof(send_request_buffer)'

This commit is contained in:
ShingoMatsuura 2016-11-23 06:40:37 +09:00 committed by Randy Mackay
parent d70f89cb67
commit 8c3f7832d2
2 changed files with 14 additions and 15 deletions
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16
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
View File

@ -27,19 +27,7 @@ extern const AP_HAL::HAL& hal;
AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder &_ranger, uint8_t instance,
RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) :
AP_RangeFinder_Backend(_ranger, instance, _state),
// Modbus send request buffer
// read input register (function code 0x04)
send_request_buffer {
LEDDARONE_DEFAULT_ADDRESS,
LEDDARONE_MODOBUS_FUNCTION_CODE,
0,
LEDDARONE_MODOBUS_FUNCTION_REGISTER_ADDRESS, // 20: Address of first register to read
0,
LEDDARONE_MODOBUS_FUNCTION_READ_NUMBER, // 10: The number of consecutive registers to read
0x30, // CRC Lo
0x09 // CRC Hi
}
AP_RangeFinder_Backend(_ranger, instance, _state)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
if (uart != nullptr) {
@ -90,7 +78,7 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
case LEDDARONE_MODBUS_STATE_PRE_SEND_REQUEST:
// send a request message for Modbus function 4
uart->write(send_request_buffer, 8);
uart->write(send_request_buffer, sizeof(send_request_buffer));
modbus_status = LEDDARONE_MODBUS_STATE_SENT_REQUEST;
last_sending_request_ms = AP_HAL::millis();

13
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
View File

@ -73,5 +73,16 @@ private:
uint8_t read_buffer[LEDDARONE_READ_BUFFER_SIZE];
uint32_t read_len;
const uint8_t send_request_buffer[8];
// Modbus send request buffer
// read input register (function code 0x04)
const uint8_t send_request_buffer[8] = {
LEDDARONE_DEFAULT_ADDRESS,
LEDDARONE_MODOBUS_FUNCTION_CODE,
0,
LEDDARONE_MODOBUS_FUNCTION_REGISTER_ADDRESS, // 20: Address of first register to read
0,
LEDDARONE_MODOBUS_FUNCTION_READ_NUMBER, // 10: The number of consecutive registers to read
0x30, // CRC Lo
0x09 // CRC Hi
};
};