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             :   Simulator for the Ainstein LR-D1 Serial rangefinder - with v19.0.0 firmware
      17             : */
      18             : 
      19             : #include "SIM_RF_Ainstein_LR_D1_v19.h"
      20             : 
      21             : using namespace SITL;
      22             : 
      23        1460 : uint32_t RF_Ainstein_LR_D1_v19::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
      24             : {
      25        1460 :     const uint8_t PACKET_LEN = 32;
      26             : 
      27        1460 :     if (buflen < PACKET_LEN) {
      28           0 :         return 0;
      29             :     }
      30             : 
      31        1460 :     uint16_t malfunction_alert = 0;
      32             : 
      33        1460 :     uint8_t snr = 100;
      34        1460 :     uint8_t altitude_valid = 1;
      35        1460 :     if (alt_m > 525) {
      36             :         // overheats at 525 metres:
      37         320 :         malfunction_alert |= 1U << 0;
      38             :     }
      39        1460 :     if (alt_m > 500) {
      40             :         // out of range @500m
      41         368 :         snr = 0;
      42         368 :         altitude_valid = 0;
      43             :     }
      44        1460 :     if (alt_m*100 > 65535) {
      45         110 :         malfunction_alert |= 1U << 10;  // AltitudeReading alert
      46             :     }
      47             : 
      48        1460 :     const uint16_t alt_cm = alt_m * 100;  // this really does wrap on real hardware
      49             : 
      50        1460 :     buffer[0] = 0xEB;  // packet header msb
      51        1460 :     buffer[1] = 0x90;  // packet header lsb
      52        1460 :     buffer[2] = 0;  // device_id
      53        1460 :     buffer[3] = 28;  // length
      54        1460 :     buffer[4] = HIGHBYTE(malfunction_alert);
      55        1460 :     buffer[5] = LOWBYTE(malfunction_alert);  // object count
      56        1460 :     buffer[6] = HIGHBYTE(alt_cm);
      57        1460 :     buffer[7] = LOWBYTE(alt_cm);
      58        1460 :     buffer[8] = snr;
      59        1460 :     buffer[9] = 0;  // speed high
      60        1460 :     buffer[10] = 0;  // speed low
      61        1460 :     memset(&buffer[11], 0xff, 20); // unused
      62        1460 :     buffer[11] = altitude_valid;
      63        1460 :     buffer[31] = crc_sum_of_bytes(&buffer[3], PACKET_LEN-4); // minus headerMSB, headerLSB, device_id and checksum
      64             : 
      65        1460 :     return PACKET_LEN;
      66             : }