From aafc0789f0c52d16b38bac9bb4d1385e45a3566a Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Mon, 1 Aug 2022 18:44:01 -0500
Subject: [PATCH] SITL: add TeraRange Neo Rangefinder

---
 libraries/SITL/SIM_RF_TeraRanger_Serial.cpp | 40 +++++++++++++++++++++
 libraries/SITL/SIM_RF_TeraRanger_Serial.h   | 39 ++++++++++++++++++++
 2 files changed, 79 insertions(+)
 create mode 100644 libraries/SITL/SIM_RF_TeraRanger_Serial.cpp
 create mode 100644 libraries/SITL/SIM_RF_TeraRanger_Serial.h

diff --git a/libraries/SITL/SIM_RF_TeraRanger_Serial.cpp b/libraries/SITL/SIM_RF_TeraRanger_Serial.cpp
new file mode 100644
index 0000000000..5f47f5071c
--- /dev/null
+++ b/libraries/SITL/SIM_RF_TeraRanger_Serial.cpp
@@ -0,0 +1,40 @@
+/*
+   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 TeraRanger Serial RangeFinders
+*/
+
+#include "SIM_RF_TeraRanger_Serial.h"
+
+using namespace SITL;
+
+uint32_t RF_TeraRanger_Serial::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
+{
+    uint16_t alt_mm = alt_cm * 10;
+    buffer[0] = 0x54; //header byte
+    buffer[1] = alt_mm >> 8; //MSB mm
+    buffer[2] = alt_mm & 0xff; //LSB mm
+
+    if (alt_cm > 3000) {
+       buffer[3] = 0xC4; //full strength, out of range, no overtemp
+    }
+    else {
+       buffer[3] = 0xC0; //full strength, no reading error, no overtemp
+    }
+    
+    // calculate CRC8:
+    buffer[4] = crc_crc8(buffer,4);;
+
+    return 5;
+}
+
diff --git a/libraries/SITL/SIM_RF_TeraRanger_Serial.h b/libraries/SITL/SIM_RF_TeraRanger_Serial.h
new file mode 100644
index 0000000000..314460699f
--- /dev/null
+++ b/libraries/SITL/SIM_RF_TeraRanger_Serial.h
@@ -0,0 +1,39 @@
+/*
+   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 TeraRanger NEO RangeFinder
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:teraranger_serial --speedup=1
+param set SERIAL5_PROTOCOL 9
+param set RNGFND1_TYPE 35
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
+reboot
+arm throttle
+rc 3 1600
+*/
+
+#pragma once
+
+#include "SIM_SerialRangeFinder.h"
+
+namespace SITL {
+
+class RF_TeraRanger_Serial : public SerialRangeFinder {
+public:
+
+    uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
+
+
+};
+
+}