mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.1 KiB
C++
77 lines
2.1 KiB
C++
/*
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* Copyright (C) 2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_RangeFinder_MaxsonarSerialLV.h"
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#if AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <ctype.h>
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#define MAXSONAR_SERIAL_LV_BAUD_RATE 9600
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extern const AP_HAL::HAL& hal;
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AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(
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RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params):
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AP_RangeFinder_Backend_Serial(_state, _params)
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{
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params.scaling.set_default(0.0254f);
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}
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// read - return last value measured by sensor
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bool AP_RangeFinder_MaxsonarSerialLV::get_reading(float &reading_m)
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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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int32_t sum = 0;
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uint16_t count = 0;
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for (auto i=0; i<8192; i++) {
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uint8_t c;
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if (!uart->read(c)) {
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break;
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}
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if (c == '\r') {
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linebuf[linebuf_len] = 0;
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sum += (int)atoi(linebuf);
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count++;
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linebuf_len = 0;
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} else if (isdigit(c)) {
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linebuf[linebuf_len++] = c;
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if (linebuf_len == sizeof(linebuf)) {
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// too long, discard the line
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linebuf_len = 0;
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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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// This sonar gives the metrics in inches, so we have to transform this to meters
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reading_m = params.scaling * (float(sum) / count);
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return true;
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}
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#endif // AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
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