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 NoopLoop TOFSense-F/P Serial RangeFinders
      17             : */
      18             : 
      19             : #include "SIM_RF_JRE.h"
      20             : 
      21             : using namespace SITL;
      22             : 
      23           0 : uint32_t RF_JRE::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
      24             : {
      25           0 :     uint16_t status = 0;
      26           0 :     if (alt_m > 500) {
      27           0 :         status |= 0x2;  // NTRK, whatever that means...
      28             :     }
      29             : 
      30           0 :     const uint16_t alt_cm = alt_m * 100;
      31             : 
      32           0 :     buffer[0] = 'R';
      33           0 :     buffer[1] = 'A';
      34           0 :     buffer[2] = 0x01;
      35           0 :     buffer[3] = frame_count++;
      36           0 :     buffer[4] = alt_cm >> 8;    // altitide low
      37           0 :     buffer[5] = alt_cm & 0xff;  // Altitude-High, LSB
      38           0 :     buffer[6] = 0x00;  // reserved
      39           0 :     buffer[7] = 0x00;  // reserved
      40           0 :     buffer[8] = 0x00;  // reserved
      41           0 :     buffer[9] = 0x00;  // reserved
      42           0 :     buffer[10] = 0x00;  // FFT
      43           0 :     buffer[11] = 0x00;  // FFT
      44           0 :     buffer[12] = status >> 8;  // FFT
      45           0 :     buffer[13] = status & 0xff;  // FFT
      46             : 
      47           0 :     const uint16_t crc = crc16_ccitt_r(&buffer[0], 14, 0xffff, 0xffff);
      48           0 :     buffer[14] = crc & 0xff;
      49           0 :     buffer[15] = crc >> 8;
      50             : 
      51           0 :     return 16;
      52             : }