mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.3 KiB
C++
69 lines
2.3 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_Backend_Serial.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_Backend_Serial::AP_RangeFinder_Backend_Serial(
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RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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uint8_t serial_instance) :
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AP_RangeFinder_Backend(_state, _params)
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{
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uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
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if (uart != nullptr) {
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uart->begin(initial_baudrate(serial_instance), rx_bufsize(), tx_bufsize());
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}
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}
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uint32_t AP_RangeFinder_Backend_Serial::initial_baudrate(const uint8_t serial_instance) const
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{
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return AP::serialmanager().find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
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}
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/*
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detect if a Serial rangefinder is connected. We'll detect by simply
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checking for SerialManager configuration
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*/
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bool AP_RangeFinder_Backend_Serial::detect(uint8_t serial_instance)
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{
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return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
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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_Backend_Serial::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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state.last_reading_ms = AP_HAL::millis();
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update_status();
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} else if (AP_HAL::millis() - state.last_reading_ms > read_timeout_ms()) {
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set_status(RangeFinder::Status::NoData);
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}
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}
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