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 GYUS42v2 Serial rangefinder
      17             : */
      18             : 
      19             : #include "SIM_RF_GYUS42v2.h"
      20             : 
      21             : #include <stdio.h>
      22             : #include <string.h>
      23             : 
      24             : using namespace SITL;
      25             : 
      26         708 : uint32_t RF_GYUS42v2::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
      27             : {
      28         708 :     const uint16_t alt_cm = alt_m * 100;
      29             : 
      30         708 :     if (buflen < 7) {
      31           0 :         return 0;
      32             :     }
      33         708 :     buffer[0] = 0x5A;
      34         708 :     buffer[1] = 0; // FIXME
      35         708 :     buffer[2] = 0; // FIXME
      36         708 :     buffer[3] = 0; // FIXME
      37         708 :     buffer[4] = alt_cm >> 8;
      38         708 :     buffer[5] = alt_cm & 0xFF;
      39         708 :     buffer[6] = 0;
      40        4956 :     for (uint8_t i=0; i<6; i++) {
      41        4248 :         buffer[6] += buffer[i];
      42             :     }
      43             : 
      44         708 :     return 7;
      45             : }