mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.2 KiB
C++
43 lines
1.2 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"),
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AP_RangeFinder_Backend(_state, _params)
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{
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register_driver(AP_CANManager::Driver_Type_USD1);
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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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const uint32_t now = AP_HAL::millis();
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if (_distance_count == 0 && now - state.last_reading_ms > 500) {
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// no new data.
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set_status(RangeFinder::Status::NoData);
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} else if (_distance_count != 0) {
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state.distance_m = _distance_sum / _distance_count;
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state.last_reading_ms = AP_HAL::millis();
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_distance_sum = 0;
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_distance_count = 0;
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update_status();
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}
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}
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// handler for incoming frames. These come in at 100Hz
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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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const uint16_t dist_cm = (frame.data[0]<<8) | frame.data[1];
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_distance_sum += dist_cm * 0.01;
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_distance_count++;
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}
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
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