mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.6 KiB
C++
53 lines
1.6 KiB
C++
#pragma once
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#include "AP_Proximity_Backend_Serial.h"
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#if HAL_PROXIMITY_ENABLED
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#define PROXIMITY_LIGHTWARE_PAYLOAD_LEN_MAX 256 // maximum payload size we can accept (in some configurations sensor may send as large as 1023)
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class AP_Proximity_LightWareSerial : public AP_Proximity_Backend_Serial
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{
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public:
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// constructor
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using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
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protected:
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// initialise sensor
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void initialise();
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// send message to sensor
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void send_message(uint8_t msgid, bool write, const uint8_t *payload, uint16_t payload_len);
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// process one byte received on serial port
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// returns true if a complete message has been received
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// state is stored in _msg structure
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bool parse_byte(uint8_t b);
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enum class ParseState {
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HEADER = 0,
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FLAGS_L,
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FLAGS_H,
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MSG_ID,
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PAYLOAD,
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CRC_L,
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CRC_H
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} _parse_state; // state of incoming message processing
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uint16_t _payload_recv; // number of message's payload bytes received so far
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uint16_t _crc_expected; // latest message's expected crc
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// structure holding latest message contents
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struct {
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uint8_t flags_low; // flags low byte
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uint8_t flags_high; // flags high byte
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uint16_t payload_len; // latest message payload length (1+ bytes in payload)
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uint8_t payload[PROXIMITY_LIGHTWARE_PAYLOAD_LEN_MAX]; // payload
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uint8_t msgid; // latest message's message id
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uint8_t crc_low; // crc low byte
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uint8_t crc_high; // crc high byte
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} _msg;
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};
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#endif // HAL_PROXIMITY_ENABLED
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