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.
43 lines
1.7 KiB
43 lines
1.7 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
|
|
#include "AP_Proximity_Backend_Serial.h" |
|
|
|
#include <AP_SerialManager/AP_SerialManager.h> |
|
|
|
/* |
|
The constructor also initialises the proximity sensor. Note that this |
|
constructor is not called until detect() returns true, so we |
|
already know that we should setup the proximity sensor |
|
*/ |
|
AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial(AP_Proximity &_frontend, |
|
AP_Proximity::Proximity_State &_state) : |
|
AP_Proximity_Backend(_frontend, _state) |
|
{ |
|
const AP_SerialManager &serial_manager = AP::serialmanager(); |
|
_uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0); |
|
if (_uart != nullptr) { |
|
// start uart with larger receive buffer |
|
_uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0), rxspace(), 0); |
|
} |
|
} |
|
|
|
// detect if a proximity sensor is connected by looking for a |
|
// configured serial port |
|
bool AP_Proximity_Backend_Serial::detect() |
|
{ |
|
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr; |
|
} |
|
|
|
|