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 BLping rangefinder
      17             : */
      18             : 
      19             : #include "SIM_RF_BLping.h"
      20             : 
      21             : #include <GCS_MAVLink/GCS.h>
      22             : #include <stdio.h>
      23             : 
      24             : 
      25             : using namespace SITL;
      26             : 
      27         353 : uint32_t RF_BLping::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
      28             : {
      29             : #define BLPING_MSGID_ACK                    1
      30             : #define BLPING_MSGID_NACK                   2
      31             : #define BLPING_MSGID_SET_PING_INTERVAL      1004
      32             : #define BLPING_MSGID_GET_DEVICE_ID          1201
      33             : #define BLDPIN_MSGID_DISTANCE_SIMPLE        1211
      34             : #define BLPING_MSGID_CONTINUOUS_START       1400
      35             : 
      36         353 :     const uint32_t alt_mm = uint32_t(alt_m * 1000);
      37             :     const uint8_t payload[] = {
      38             :         uint8_t(alt_mm & 0xff),
      39         353 :         uint8_t((alt_mm >> 8) & 0xff),
      40         353 :         uint8_t((alt_mm >> 16) & 0xff),
      41         353 :         uint8_t((alt_mm >> 24) & 0xff),
      42         353 :     };
      43         353 :     const uint16_t message_id = BLDPIN_MSGID_DISTANCE_SIMPLE;
      44         353 :     const uint8_t src_device_id = 1;
      45         353 :     const uint8_t dst_device_id = 0;
      46         353 :     uint16_t offs = 0;
      47         353 :     buffer[offs++] = 0x42;
      48         353 :     buffer[offs++] = 0x52;
      49         353 :     buffer[offs++] = ARRAY_SIZE(payload) & 0xff;
      50         353 :     buffer[offs++] = ARRAY_SIZE(payload) >> 8;
      51         353 :     buffer[offs++] = message_id & 0xff;
      52         353 :     buffer[offs++] = message_id >> 8;
      53         353 :     buffer[offs++] = src_device_id;
      54         353 :     buffer[offs++] = dst_device_id;
      55         353 :     memcpy(&buffer[offs], payload, ARRAY_SIZE(payload));
      56         353 :     offs += ARRAY_SIZE(payload);
      57         353 :     uint16_t crc = 0;
      58        4589 :     for (uint8_t i=0; i<offs; i++) {
      59        4236 :         crc += buffer[i];
      60             :     }
      61             : 
      62         353 :     buffer[offs++] = crc & 0xff;
      63         353 :     buffer[offs++] = crc >> 8;
      64             : 
      65         353 :     return offs;
      66             : }