Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include "AP_Proximity_Backend_Serial.h"
      17             : 
      18             : #if HAL_PROXIMITY_ENABLED
      19             : #include <AP_SerialManager/AP_SerialManager.h>
      20             : 
      21             : /*
      22             :    The constructor also initialises the proximity sensor. Note that this
      23             :    constructor is not called until detect() returns true, so we
      24             :    already know that we should setup the proximity sensor
      25             : */
      26           6 : AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial(AP_Proximity &_frontend,
      27             :                                                          AP_Proximity::Proximity_State &_state,
      28             :                                                          AP_Proximity_Params &_params,
      29           6 :                                                          uint8_t serial_instance) :
      30           6 :     AP_Proximity_Backend(_frontend, _state, _params)
      31             : {
      32           6 :     const AP_SerialManager &serial_manager = AP::serialmanager();
      33           6 :     _uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, serial_instance);
      34           6 :     if (_uart != nullptr) {
      35             :         // start uart with larger receive buffer
      36           6 :         _uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, serial_instance), rxspace(), 0);
      37             :     }
      38           6 : }
      39             : 
      40             : // static detection function
      41             : // detect if a proximity sensor is connected by looking for a configured serial port
      42             : // serial_instance affects which serial port is used.  Should be 0 or 1 depending on whether this is the 1st or 2nd proximity sensor with a serial interface
      43           6 : bool AP_Proximity_Backend_Serial::detect(uint8_t serial_instance)
      44             : {
      45           6 :     return AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_Lidar360, serial_instance);
      46             : }
      47             : 
      48             : #endif // HAL_PROXIMITY_ENABLED