mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.4 KiB
C++
45 lines
1.4 KiB
C++
#pragma once
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#include "AP_Beacon_Backend.h"
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#define AP_BEACON_POZYX_MSG_LEN_MAX 20 // messages from uno/pozyx are no more than 20bytes
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#define AP_BEACON_POZYX_HEADER 0x01 // messages start with this character
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#define AP_BEACON_POZYX_MSGID_BEACON_CONFIG 0x02 // message contains anchor config information
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#define AP_BEACON_POZYX_MSGID_BEACON_DIST 0x03 // message contains individual beacon distance
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#define AP_BEACON_POZYX_MSGID_POSITION 0x04 // message contains vehicle position information
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#define AP_BEACON_DISTANCE_MAX 200.0f // sanity check beacon and vehicle messages to be within this distance from origin
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class AP_Beacon_Pozyx : public AP_Beacon_Backend
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{
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public:
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// constructor
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AP_Beacon_Pozyx(AP_Beacon &frontend, AP_SerialManager &serial_manager);
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// return true if sensor is basically healthy (we are receiving data)
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bool healthy();
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// update
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void update();
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private:
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enum ParseState{
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ParseState_WaitingForHeader = 0,
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ParseState_WaitingForMsgId = 1,
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ParseState_WaitingForLen = 2,
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ParseState_WaitingForContents = 3
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} parse_state;
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// parse buffer
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void parse_buffer();
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uint8_t parse_msg_id;
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uint8_t parse_msg_len;
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AP_HAL::UARTDriver *uart = nullptr;
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uint8_t linebuf[AP_BEACON_POZYX_MSG_LEN_MAX];
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uint8_t linebuf_len = 0;
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uint32_t last_update_ms = 0;
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};
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