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54 lines
1.3 KiB
54 lines
1.3 KiB
#pragma once |
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#include "AP_RangeFinder.h" |
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#include "AP_RangeFinder_Backend_Serial.h" |
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#ifndef AP_RANGEFINDER_USD1_SERIAL_ENABLED |
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#define AP_RANGEFINDER_USD1_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_RANGEFINDER_USD1_SERIAL_ENABLED |
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class AP_RangeFinder_USD1_Serial : public AP_RangeFinder_Backend_Serial |
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{ |
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public: |
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static AP_RangeFinder_Backend_Serial *create( |
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RangeFinder::RangeFinder_State &_state, |
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AP_RangeFinder_Params &_params) { |
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return new AP_RangeFinder_USD1_Serial(_state, _params); |
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} |
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protected: |
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
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return MAV_DISTANCE_SENSOR_RADAR; |
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} |
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// baudrate used during object construction: |
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uint32_t initial_baudrate(uint8_t serial_instance) const override { |
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return 115200; |
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} |
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uint16_t rx_bufsize() const override { return 128; } |
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uint16_t tx_bufsize() const override { return 128; } |
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private: |
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using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial; |
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// detect USD1_Serial Firmware Version |
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bool detect_version(void); |
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// get a reading |
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bool get_reading(float &reading_m) override; |
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uint8_t _linebuf[6]; |
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uint8_t _linebuf_len; |
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bool _version_known; |
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uint8_t _header; |
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uint8_t _version; |
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}; |
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#endif // AP_RANGEFINDER_USD1_SERIAL_ENABLED
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