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66 lines
2.1 KiB
66 lines
2.1 KiB
/* |
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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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/* |
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Simulator for the BLping rangefinder |
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*/ |
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#include "SIM_RF_BLping.h" |
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#include <GCS_MAVLink/GCS.h> |
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#include <stdio.h> |
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using namespace SITL; |
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uint32_t RF_BLping::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) |
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{ |
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#define BLPING_MSGID_ACK 1 |
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#define BLPING_MSGID_NACK 2 |
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#define BLPING_MSGID_SET_PING_INTERVAL 1004 |
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#define BLPING_MSGID_GET_DEVICE_ID 1201 |
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#define BLDPIN_MSGID_DISTANCE_SIMPLE 1211 |
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#define BLPING_MSGID_CONTINUOUS_START 1400 |
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const uint32_t alt_mm = uint32_t(alt_cm * 10); |
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const uint8_t payload[] = { |
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uint8_t(alt_mm & 0xff), |
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uint8_t((alt_mm >> 8) & 0xff), |
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uint8_t((alt_mm >> 16) & 0xff), |
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uint8_t((alt_mm >> 24) & 0xff), |
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}; |
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const uint16_t message_id = BLDPIN_MSGID_DISTANCE_SIMPLE; |
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const uint8_t src_device_id = 1; |
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const uint8_t dst_device_id = 0; |
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uint16_t offs = 0; |
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buffer[offs++] = 0x42; |
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buffer[offs++] = 0x52; |
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buffer[offs++] = ARRAY_SIZE(payload) & 0xff; |
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buffer[offs++] = ARRAY_SIZE(payload) >> 8; |
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buffer[offs++] = message_id & 0xff; |
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buffer[offs++] = message_id >> 8; |
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buffer[offs++] = src_device_id; |
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buffer[offs++] = dst_device_id; |
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memcpy(&buffer[offs], payload, ARRAY_SIZE(payload)); |
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offs += ARRAY_SIZE(payload); |
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uint16_t crc = 0; |
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for (uint8_t i=0; i<offs; i++) { |
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crc += buffer[i]; |
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} |
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buffer[offs++] = crc & 0xff; |
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buffer[offs++] = crc >> 8; |
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return offs; |
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}
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