mirror of https://github.com/ArduPilot/ardupilot
37 lines
1.1 KiB
C++
37 lines
1.1 KiB
C++
#pragma once
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#include "AP_RangeFinder_Backend.h"
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class AP_RangeFinder_Backend_Serial : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_Backend_Serial(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params);
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void init_serial(uint8_t serial_instance) override;
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// static detection function
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static bool detect(uint8_t serial_instance);
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protected:
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// baudrate used during object construction:
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virtual uint32_t initial_baudrate(uint8_t serial_instance) const;
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// the value 0 is special to the UARTDriver - it's "use default"
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virtual uint16_t rx_bufsize() const { return 0; }
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virtual uint16_t tx_bufsize() const { return 0; }
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AP_HAL::UARTDriver *uart = nullptr;
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// update state; not all backends call this!
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virtual void update(void) override;
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// it is essential that anyone relying on the base-class update to
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// implement this:
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virtual bool get_reading(float &reading_m) = 0;
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// maximum time between readings before we change state to NoData:
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virtual uint16_t read_timeout_ms() const { return 200; }
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};
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