You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
39 lines
1.0 KiB
39 lines
1.0 KiB
#include <AP_HAL/AP_HAL.h> |
|
#include "AP_RangeFinder_USD1_CAN.h" |
|
|
|
#if HAL_MAX_CAN_PROTOCOL_DRIVERS |
|
|
|
/* |
|
constructor |
|
*/ |
|
AP_RangeFinder_USD1_CAN::AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) : |
|
CANSensor("USD1", AP_CANManager::Driver_Type_USD1), |
|
AP_RangeFinder_Backend(_state, _params) |
|
{ |
|
} |
|
|
|
// update state |
|
void AP_RangeFinder_USD1_CAN::update(void) |
|
{ |
|
WITH_SEMAPHORE(_sem); |
|
if ((AP_HAL::millis() - _last_reading_ms) > 500) { |
|
// if data is older than 500ms, report NoData |
|
set_status(RangeFinder::Status::NoData); |
|
} else if (new_data) { |
|
state.distance_cm = _distance_cm; |
|
state.last_reading_ms = _last_reading_ms; |
|
update_status(); |
|
new_data = false; |
|
} |
|
} |
|
|
|
// handler for incoming frames |
|
void AP_RangeFinder_USD1_CAN::handle_frame(AP_HAL::CANFrame &frame) |
|
{ |
|
WITH_SEMAPHORE(_sem); |
|
_distance_cm = (frame.data[0]<<8) | frame.data[1]; |
|
_last_reading_ms = AP_HAL::millis(); |
|
new_data = true; |
|
} |
|
|
|
#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
|
|
|