mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.0 KiB
C++
40 lines
1.0 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "AP_RangeFinder_USD1_CAN.h"
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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/*
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constructor
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*/
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AP_RangeFinder_USD1_CAN::AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
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CANSensor("USD1", AP_CANManager::Driver_Type_USD1),
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AP_RangeFinder_Backend(_state, _params)
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{
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}
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// update state
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void AP_RangeFinder_USD1_CAN::update(void)
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{
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WITH_SEMAPHORE(_sem);
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if ((AP_HAL::millis() - _last_reading_ms) > 500) {
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// if data is older than 500ms, report NoData
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set_status(RangeFinder::Status::NoData);
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} else if (new_data) {
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state.distance_cm = _distance_cm;
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state.last_reading_ms = _last_reading_ms;
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update_status();
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new_data = false;
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}
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}
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// handler for incoming frames
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void AP_RangeFinder_USD1_CAN::handle_frame(AP_HAL::CANFrame &frame)
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{
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WITH_SEMAPHORE(_sem);
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_distance_cm = (frame.data[0]<<8) | frame.data[1];
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_last_reading_ms = AP_HAL::millis();
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new_data = true;
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}
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
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