mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.3 KiB
C++
69 lines
2.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulator for the LeddarOne rangefinder
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*/
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#include "SIM_RF_LeddarOne.h"
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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using namespace SITL;
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uint32_t RF_LeddarOne::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
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{
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const uint8_t response_size = 25;
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const uint16_t internal_temperature = 1245;
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const uint16_t num_detections = 1;
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const uint16_t first_distance = alt_cm * 10;
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const uint16_t first_amplitude = 37;
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const uint16_t second_distance = alt_cm * 10;
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const uint16_t second_amplitude = 37;
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const uint16_t third_distance = alt_cm * 10;
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const uint16_t third_amplitude = 37;
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const uint32_t now = AP_HAL::millis();
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buffer[0] = 0x01;
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buffer[1] = 0x04; // magic function number! LEDDARONE_MODOBUS_FUNCTION_CODE
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buffer[2] = response_size;
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buffer[3] = (now >> 16) & 0xff;
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buffer[4] = (now >> 24) & 0xff;
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buffer[5] = (now >> 0) & 0xff;
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buffer[6] = (now >> 8) & 0xff;
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buffer[7] = internal_temperature & 0xff;
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buffer[8] = internal_temperature >> 8;
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buffer[9] = num_detections >> 8;
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buffer[10] = num_detections & 0xff;
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buffer[11] = first_distance >> 8;
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buffer[12] = first_distance & 0xff;
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buffer[13] = first_amplitude >> 8;
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buffer[14] = first_amplitude & 0xff;
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buffer[15] = second_distance >> 8;
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buffer[16] = second_distance & 0xff;
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buffer[17] = second_amplitude >> 8;
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buffer[18] = second_amplitude & 0xff;
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buffer[19] = third_distance >> 8;
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buffer[20] = third_distance & 0xff;
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buffer[21] = third_amplitude >> 8;
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buffer[22] = third_amplitude & 0xff;
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const uint16_t crc = calc_crc_modbus(buffer, 23);
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buffer[23] = crc & 0xff;
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buffer[24] = crc >> 8;
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return response_size;
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}
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