mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.0 KiB
C++
73 lines
2.0 KiB
C++
#pragma once
|
|
|
|
#include "RangeFinder.h"
|
|
#include "RangeFinder_Backend.h"
|
|
|
|
class AP_RangeFinder_BLPing : public AP_RangeFinder_Backend
|
|
{
|
|
|
|
public:
|
|
|
|
// constructor
|
|
AP_RangeFinder_BLPing(RangeFinder::RangeFinder_State &_state,
|
|
AP_RangeFinder_Params &_params,
|
|
AP_SerialManager &serial_manager,
|
|
uint8_t serial_instance);
|
|
|
|
// static detection function
|
|
static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
|
|
|
|
// update state
|
|
void update(void) override;
|
|
|
|
protected:
|
|
|
|
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
|
|
return MAV_DISTANCE_SENSOR_ULTRASOUND;
|
|
}
|
|
|
|
private:
|
|
|
|
void init_sensor();
|
|
|
|
// send message to sensor
|
|
void send_message(uint16_t msgid, const uint8_t *payload, uint16_t payload_len);
|
|
|
|
// read a distance from the sensor
|
|
bool get_reading(uint16_t &reading_cm);
|
|
|
|
// process one byte received on serial port
|
|
// returns true if a distance message has been successfully parsed
|
|
// state is stored in msg structure
|
|
bool parse_byte(uint8_t b);
|
|
|
|
enum class ParseState {
|
|
HEADER1 = 0,
|
|
HEADER2,
|
|
LEN_L,
|
|
LEN_H,
|
|
MSG_ID_L,
|
|
MSG_ID_H,
|
|
SRC_ID,
|
|
DST_ID,
|
|
PAYLOAD,
|
|
CRC_L,
|
|
CRC_H
|
|
};
|
|
|
|
AP_HAL::UARTDriver *uart;
|
|
uint32_t last_init_ms; // system time that sensor was last initialised
|
|
uint16_t distance_cm; // latest distance
|
|
|
|
// structure holding latest message contents
|
|
struct {
|
|
ParseState state; // state of incoming message processing
|
|
uint8_t payload[20]; // payload
|
|
uint16_t payload_len; // latest message payload length
|
|
uint16_t msgid; // latest message's message id
|
|
uint16_t payload_recv; // number of message's payload bytes received so far
|
|
uint16_t crc; // latest message's crc
|
|
uint16_t crc_expected; // latest message's expected crc
|
|
} msg;
|
|
};
|