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43 lines
1.1 KiB
43 lines
1.1 KiB
4 years ago
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#ifndef __AIRMAR_P66__
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#define __AIRMAR_P66__
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#include <AP_HAL/AP_HAL.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <GCS_MAVLink/GCS.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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class Underwater_Sonar
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{
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public:
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Underwater_Sonar();
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// get singleton instance
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static Underwater_Sonar *get_singleton() { return _singleton; }
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bool init(const AP_SerialManager& serial_manager);
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bool read(void);
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void update(const AP_SerialManager& serial_manager, const struct Location &_loc);
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void write(const uint8_t *data, uint16_t len);
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bool _decode(char c);
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float radar_data[8];
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private:
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static Underwater_Sonar *_singleton;
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AP_HAL::UARTDriver *_uart;
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uint8_t ucCRCHi;
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uint8_t ucCRCLo;
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int iIndex;
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uint8_t sonar_data[25];
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char _term[8][6]; ///< buffer for the current term within the current sentence
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uint8_t _term_offset; ///< character offset with the term being received
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uint8_t _term_num;
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uint32_t data_index;
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};
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namespace AP {
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Underwater_Sonar &underwater_sonar();
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};
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#endif
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