mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.2 KiB
C++
47 lines
1.2 KiB
C++
#include "AP_RangeFinder_USD1_CAN.h"
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#if AP_RANGEFINDER_USD1_CAN_ENABLED
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#include <AP_HAL/AP_HAL.h>
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RangeFinder_MultiCAN *AP_RangeFinder_USD1_CAN::multican;
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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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AP_RangeFinder_Backend_CAN(_state, _params)
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{
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if (multican == nullptr) {
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multican = new RangeFinder_MultiCAN(AP_CAN::Protocol::USD1, "USD1 MultiCAN");
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if (multican == nullptr) {
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AP_BoardConfig::allocation_error("USD1_CAN");
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}
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}
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{
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// add to linked list of drivers
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WITH_SEMAPHORE(multican->sem);
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auto *prev = multican->drivers;
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next = prev;
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multican->drivers = this;
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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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bool 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 id = frame.id & AP_HAL::CANFrame::MaskStdID;
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if (!is_correct_id(id)) {
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return false;
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}
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const uint16_t dist_cm = (frame.data[0]<<8) | frame.data[1];
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accumulate_distance_m(dist_cm * 0.01);
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return true;
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}
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#endif // AP_RANGEFINDER_USD1_CAN_ENABLED
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