Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: move uLanding to using common serial backend

This commit is contained in:
Peter Barker 2019-11-01 21:35:23 +11:00 committed by Peter Barker
parent 9829a1d08b
commit b18f1a8e22
4 changed files with 16 additions and 41 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
View File

@ -15,44 +15,13 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_RangeFinder_uLanding.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <ctype.h>
#define ULANDING_HDR 254 // Header Byte from uLanding (0xFE)
#define ULANDING_HDR_V0 72 // Header Byte for beta V0 of uLanding (0x48)
#define ULANDING_BAUD 115200
#define ULANDING_BUFSIZE_RX 128
#define ULANDING_BUFSIZE_TX 128
extern const AP_HAL::HAL& hal;
/*
The constructor also initialises the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state, _params)
{
uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) {
uart->begin(ULANDING_BAUD, ULANDING_BUFSIZE_RX, ULANDING_BUFSIZE_TX);
}
}
/*
detect if a uLanding rangefinder is connected. We'll detect by
trying to take a reading on Serial. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_uLanding::detect(uint8_t serial_instance)
{
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
}
/*
detect uLanding Firmware Version
*/

20
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h
View File

@ -1,19 +1,14 @@
#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
#include "RangeFinder_Backend_Serial.h"
class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend
class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend_Serial
{
public:
// constructor
AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance);
// static detection function
static bool detect(uint8_t serial_instance);
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
// update state
void update(void) override;
@ -24,6 +19,14 @@ protected:
return MAV_DISTANCE_SENSOR_RADAR;
}
// baudrate used during object construction:
uint32_t initial_baudrate(uint8_t serial_instance) const override {
return 115200;
}
uint16_t rx_bufsize() const override { return 128; }
uint16_t tx_bufsize() const override { return 128; }
private:
// detect uLanding Firmware Version
bool detect_version(void);
@ -31,7 +34,6 @@ private:
// get a reading
bool get_reading(uint16_t &reading_cm);
AP_HAL::UARTDriver *uart;
uint8_t _linebuf[6];
uint8_t _linebuf_len;
bool _version_known;

2
libraries/AP_RangeFinder/RangeFinder_Backend_Serial.cpp
View File

@ -34,7 +34,7 @@ AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial(
{
uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) {
uart->begin(initial_baudrate(serial_instance));
uart->begin(initial_baudrate(serial_instance), rx_bufsize(), tx_bufsize());
}
}

4
libraries/AP_RangeFinder/RangeFinder_Backend_Serial.h
View File

@ -18,5 +18,9 @@ protected:
// baudrate used during object construction:
virtual uint32_t initial_baudrate(uint8_t serial_instance) const;
// the value 0 is special to the UARTDriver - it's "use default"
virtual uint16_t rx_bufsize() const { return 0; }
virtual uint16_t tx_bufsize() const { return 0; }
AP_HAL::UARTDriver *uart = nullptr;
};