mirror of https://github.com/ArduPilot/ardupilot
103 lines
3.3 KiB
C++
103 lines
3.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_RangeFinder_uLanding.h"
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <ctype.h>
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extern const AP_HAL::HAL& hal;
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/*
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The constructor also initialises the rangefinder. Note that this
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constructor is not called until detect() returns true, so we
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already know that we should setup the rangefinder
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*/
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AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder &_ranger, uint8_t instance,
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RangeFinder::RangeFinder_State &_state,
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AP_SerialManager &serial_manager) :
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AP_RangeFinder_Backend(_ranger, instance, _state)
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{
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0);
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if (uart != nullptr) {
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uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0));
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}
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}
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/*
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detect if a uLanding rangefinder is connected. We'll detect by
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trying to take a reading on Serial. If we get a result the sensor is
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there.
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*/
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bool AP_RangeFinder_uLanding::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager)
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{
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return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0) != nullptr;
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}
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// read - return last value measured by sensor
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bool AP_RangeFinder_uLanding::get_reading(uint16_t &reading_cm)
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{
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if (uart == nullptr) {
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return false;
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}
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// read any available lines from the uLanding
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float sum = 0;
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uint16_t count = 0;
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uint8_t index = 0;
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int16_t nbytes = uart->available();
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while (nbytes-- > 0) {
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uint8_t c = uart->read();
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// ok, we have located start byte
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if (c == 72 && index == 0) {
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linebuf_len = 0;
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index = 1;
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}
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// now it is ready to decode index information
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if (index == 1) {
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linebuf[linebuf_len] = c;
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linebuf_len ++;
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if (linebuf_len == 3) {
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index = 0;
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sum += (linebuf[2]&0x7F) *128 + (linebuf[1]&0x7F);
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linebuf_len = 0;
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count ++;
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}
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}
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}
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if (count == 0) {
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return false;
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}
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reading_cm = 2.5f * sum / count;
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return true;
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}
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/*
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update the state of the sensor
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*/
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void AP_RangeFinder_uLanding::update(void)
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{
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if (get_reading(state.distance_cm)) {
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// update range_valid state based on distance measured
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last_reading_ms = AP_HAL::millis();
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update_status();
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} else if (AP_HAL::millis() - last_reading_ms > 200) {
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set_status(RangeFinder::RangeFinder_NoData);
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}
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}
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