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SITL: add Ainstein SITL driver

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jkronk 2024-03-15 14:40:33 -07:00 committed by Tom Pittenger
parent 949dec7a1c
commit a7785b0798
2 changed files with 105 additions and 0 deletions
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50
libraries/SITL/SIM_RF_Ainstein_LR_D1.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/>.
*/
/*
Simulator for the Ainstein LR-D1 Serial rangefinder
*/
#include "SIM_RF_Ainstein_LR_D1.h"
using namespace SITL;
uint32_t RF_Ainstein_LR_D1::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
{
const uint8_t PACKET_LEN = 32;
if (buflen < PACKET_LEN) {
return 0;
}
uint8_t malfunction_alert = 0;
const uint8_t snr = (alt_cm == 0xFFFF) ? 0 : 100;
buffer[0] = 0xEB; // packet header msb
buffer[1] = 0x90; // packet header lsb
buffer[2] = 0; // device_id
buffer[3] = 28; // length
buffer[4] = malfunction_alert;
buffer[5] = 1; // object count
buffer[6] = HIGHBYTE(alt_cm);
buffer[7] = LOWBYTE(alt_cm);
buffer[8] = snr;
buffer[9] = 0; // speed high
buffer[10] = 0; // speed low
memset(&buffer[11], 0xff, 20); // unused
buffer[31] = crc_sum_of_bytes(&buffer[3], PACKET_LEN-4); // minus headerMSB, headerLSB, device_id and checksum
return PACKET_LEN;
}

55
libraries/SITL/SIM_RF_Ainstein_LR_D1.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/>.
*/
/*
Simulator for the Ainstein LR-D1 serial rangefinder
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:ainsteinlrd1 --speedup=1
param set SERIAL5_PROTOCOL 9
param set RNGFND1_TYPE 42
graph RANGEFINDER.distance
graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
reboot
arm throttle
rc 3 1600
# to pass canned data through the simulator:
/Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=file:libraries/AP_RangeFinder/examples/captures/ainstein_lr-d1.bin --speedup=1
param set SERIAL5_PROTOCOL 9
param set RNGFND1_TYPE 42
reboot
*/
#pragma once
#include "SIM_SerialRangeFinder.h"
namespace SITL {
class RF_Ainstein_LR_D1 : public SerialRangeFinder {
public:
uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
uint16_t reading_interval_ms() const override { return 100; }
private:
};
}