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40 lines
1.2 KiB
40 lines
1.2 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 Benewake Serial RangeFinders |
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*/ |
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#include "SIM_RF_Benewake.h" |
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using namespace SITL; |
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uint32_t RF_Benewake::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) |
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{ |
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buffer[0] = 0x59; |
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buffer[1] = 0x59; |
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buffer[3] = alt_cm >> 8; |
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buffer[2] = alt_cm & 0xff; |
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buffer[4] = byte4(); |
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buffer[5] = byte5(); |
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buffer[6] = byte6(); |
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buffer[7] = byte7(); |
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// calculate checksum: |
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buffer[8] = 0; |
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for (uint8_t i=0; i<8; i++) { |
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buffer[8] += buffer[i]; |
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} |
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return 9; |
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}
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