mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.8 KiB
C++
46 lines
1.8 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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#include "AP_Proximity_Backend_Serial.h"
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#if HAL_PROXIMITY_ENABLED
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#include <AP_SerialManager/AP_SerialManager.h>
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/*
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The constructor also initialises the proximity sensor. Note that this
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constructor is not called until detect() returns true, so we
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already know that we should setup the proximity sensor
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*/
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AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial(AP_Proximity &_frontend,
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AP_Proximity::Proximity_State &_state) :
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AP_Proximity_Backend(_frontend, _state)
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{
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const AP_SerialManager &serial_manager = AP::serialmanager();
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_uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
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if (_uart != nullptr) {
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// start uart with larger receive buffer
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_uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0), rxspace(), 0);
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}
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}
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// detect if a proximity sensor is connected by looking for a
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// configured serial port
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bool AP_Proximity_Backend_Serial::detect()
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{
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return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
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}
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#endif // HAL_PROXIMITY_ENABLED
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