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88 lines
3.3 KiB
88 lines
3.3 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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#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_NMEA_ENABLED |
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#define AP_RANGEFINDER_NMEA_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_RANGEFINDER_NMEA_ENABLED |
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class AP_RangeFinder_NMEA : 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_NMEA(_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_ULTRASOUND; |
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} |
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private: |
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using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial; |
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/// enum for handled messages |
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enum sentence_types : uint8_t { |
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SONAR_UNKNOWN = 0, |
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SONAR_DBT, |
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SONAR_DPT, |
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SONAR_MTW, // mean water temperature |
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SONAR_HDED, // hondex custom sonar message |
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}; |
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// get a distance reading |
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bool get_reading(float &reading_m) override; |
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// get temperature reading in C. returns true on success and populates temp argument |
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bool get_temp(float &temp) const override; |
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uint16_t read_timeout_ms() const override { return 3000; } |
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// add a single character to the buffer and attempt to decode |
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// returns true if a distance was successfully decoded |
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// distance should be pulled directly from _distance_m member |
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bool decode(char c); |
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// decode the just-completed term |
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// returns true if new sentence has just passed checksum test and is validated |
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bool decode_latest_term(); |
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// message decoding related members |
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char _term[15]; // buffer for the current term within the current sentence |
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uint8_t _term_offset; // offset within the _term buffer where the next character should be placed |
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uint8_t _term_number; // term index within the current sentence |
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float _distance_m = -1.0f; // distance in meters parsed from a term, -1 if no distance |
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float _temp_unvalidated; // unvalidated temperature in C (may have failed checksum) |
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float _temp; // temperature in C (validated) |
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uint32_t _temp_readtime_ms; // system time we last read a validated temperature, 0 if never read |
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uint8_t _checksum; // checksum accumulator |
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bool _term_is_checksum; // current term is the checksum |
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sentence_types _sentence_type; // the sentence type currently being processed |
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bool _sentence_done; // true if this sentence has already been decoded |
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}; |
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#endif // AP_RANGEFINDER_NMEA_ENABLED
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