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             :   Base class for simulator for the Benewake Serial RangeFinders
      17             : */
      18             : 
      19             : #include "SIM_RF_Benewake.h"
      20             : 
      21             : using namespace SITL;
      22             : 
      23        1516 : uint32_t RF_Benewake::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
      24             : {
      25        1516 :     const uint16_t alt_cm = alt_m * 100;
      26             : 
      27        1516 :     buffer[0] = 0x59;
      28        1516 :     buffer[1] = 0x59;
      29        1516 :     buffer[3] = alt_cm >> 8;
      30        1516 :     buffer[2] = alt_cm & 0xff;
      31        1516 :     buffer[4] = byte4();
      32        1516 :     buffer[5] = byte5();
      33        1516 :     buffer[6] = byte6();
      34        1516 :     buffer[7] = byte7();
      35             : 
      36             :     // calculate checksum:
      37        1516 :     buffer[8] = 0;
      38       13644 :     for (uint8_t i=0; i<8; i++) {
      39       12128 :         buffer[8] += buffer[i];
      40             :     }
      41        1516 :     return 9;
      42             : }