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62 lines
2.1 KiB
62 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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#include <AP_HAL/AP_HAL.h> |
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#include "AP_RangeFinder_Backend_Serial.h" |
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#include <AP_SerialManager/AP_SerialManager.h> |
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#include <ctype.h> |
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extern const AP_HAL::HAL& hal; |
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/* |
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The constructor also initialises the rangefinder. 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 rangefinder |
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*/ |
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AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial( |
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RangeFinder::RangeFinder_State &_state, |
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AP_RangeFinder_Params &_params) : |
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AP_RangeFinder_Backend(_state, _params) |
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{ |
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} |
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void AP_RangeFinder_Backend_Serial::init_serial(uint8_t serial_instance) |
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{ |
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uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance); |
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if (uart != nullptr) { |
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uart->begin(initial_baudrate(serial_instance), rx_bufsize(), tx_bufsize()); |
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} |
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} |
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uint32_t AP_RangeFinder_Backend_Serial::initial_baudrate(const uint8_t serial_instance) const |
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{ |
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return AP::serialmanager().find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance); |
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} |
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/* |
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update the state of the sensor |
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*/ |
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void AP_RangeFinder_Backend_Serial::update(void) |
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{ |
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if (get_reading(state.distance_m)) { |
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// update range_valid state based on distance measured |
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state.last_reading_ms = AP_HAL::millis(); |
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update_status(); |
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} else if (AP_HAL::millis() - state.last_reading_ms > read_timeout_ms()) { |
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set_status(RangeFinder::Status::NoData); |
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} |
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}
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