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40 lines
1.3 KiB
40 lines
1.3 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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/* |
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Base class for simulator for the TeraRanger Serial RangeFinders |
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*/ |
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#include "SIM_RF_TeraRanger_Serial.h" |
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using namespace SITL; |
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uint32_t RF_TeraRanger_Serial::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) |
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{ |
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uint16_t alt_mm = alt_cm * 10; |
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buffer[0] = 0x54; //header byte |
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buffer[1] = alt_mm >> 8; //MSB mm |
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buffer[2] = alt_mm & 0xff; //LSB mm |
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if (alt_cm > 3000) { |
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buffer[3] = 0xC4; //full strength, out of range, no overtemp |
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} |
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else { |
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buffer[3] = 0xC0; //full strength, no reading error, no overtemp |
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} |
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// calculate CRC8: |
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buffer[4] = crc_crc8(buffer,4);; |
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return 5; |
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} |
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