ardupilot/libraries/AP_Proximity/AP_Proximity_LightWareSerial.h

51 lines
1.6 KiB
C++

#pragma once
#include "AP_Proximity.h"
#include "AP_Proximity_Backend_Serial.h"
#define PROXIMITY_LIGHTWARE_PAYLOAD_LEN_MAX 256 // maximum payload size we can accept (in some configurations sensor may send as large as 1023)
class AP_Proximity_LightWareSerial : public AP_Proximity_Backend_Serial
{
public:
// constructor
using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
protected:
// initialise sensor
void initialise();
// send message to sensor
void send_message(uint8_t msgid, bool write, const uint8_t *payload, uint16_t payload_len);
// process one byte received on serial port
// returns true if a complete message has been received
// state is stored in _msg structure
bool parse_byte(uint8_t b);
enum class ParseState {
HEADER = 0,
FLAGS_L,
FLAGS_H,
MSG_ID,
PAYLOAD,
CRC_L,
CRC_H
} _parse_state; // state of incoming message processing
uint16_t _payload_recv; // number of message's payload bytes received so far
uint16_t _crc_expected; // latest message's expected crc
// structure holding latest message contents
struct {
uint8_t flags_low; // flags low byte
uint8_t flags_high; // flags high byte
uint16_t payload_len; // latest message payload length (1+ bytes in payload)
uint8_t payload[PROXIMITY_LIGHTWARE_PAYLOAD_LEN_MAX]; // payload
uint8_t msgid; // latest message's message id
uint8_t crc_low; // crc low byte
uint8_t crc_high; // crc high byte
} _msg;
};