Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_LightWareSerial_config.h"
       4             : 
       5             : #if AP_LIGHTWARESERIAL_ENABLED
       6             : 
       7             : #include <AP_HAL/AP_HAL.h>
       8             : #define LIGHTWARE_PAYLOAD_LEN_MAX 256 // maximum payload size we can accept (in some configurations sensor may send as large as 1023)
       9             : 
      10             : class AP_LightWareSerial
      11             : {
      12             : public:
      13           2 :     AP_LightWareSerial(AP_HAL::UARTDriver *&uart_ref) :
      14           2 :         _uart(uart_ref)
      15             :     {
      16           2 :     }
      17             : 
      18             : protected:
      19             : 
      20             :     // initialise sensor
      21             :     void initialise();
      22             : 
      23             :     // send message to sensor
      24             :     void send_message(uint8_t msgid, bool write, const uint8_t *payload, uint16_t payload_len);
      25             : 
      26             :     // process one byte received on serial port
      27             :     // returns true if a complete message has been received
      28             :     // state is stored in _msg structure
      29             :     bool parse_byte(uint8_t b);
      30             : 
      31             :     enum class ParseState {
      32             :         HEADER = 0,
      33             :         FLAGS_L,
      34             :         FLAGS_H,
      35             :         MSG_ID,
      36             :         PAYLOAD,
      37             :         CRC_L,
      38             :         CRC_H
      39             :     } _parse_state; // state of incoming message processing
      40             :     uint16_t _payload_recv;     // number of message's payload bytes received so far
      41             :     uint16_t _crc_expected;     // latest message's expected crc
      42             : 
      43             :     // structure holding latest message contents
      44             :     struct {
      45             :         uint8_t flags_low;      // flags low byte
      46             :         uint8_t flags_high;     // flags high byte
      47             :         uint16_t payload_len;   // latest message payload length (1+ bytes in payload)
      48             :         uint8_t payload[LIGHTWARE_PAYLOAD_LEN_MAX];   // payload
      49             :         uint8_t msgid;          // latest message's message id
      50             :         uint8_t crc_low;        // crc low byte
      51             :         uint8_t crc_high;       // crc high byte
      52             :     } _msg;
      53             : 
      54             : private:
      55             :     AP_HAL::UARTDriver *& _uart;
      56             : };
      57             : #endif // AP_LIGHTWARESERIAL_ENABLED