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 NMEA Serial rangefinder
      17             : */
      18             : 
      19             : #include "SIM_RF_NMEA.h"
      20             : 
      21             : #include <GCS_MAVLink/GCS.h>
      22             : 
      23             : #include <stdio.h>
      24             : #include <string.h>
      25             : 
      26             : using namespace SITL;
      27             : 
      28        1583 : uint32_t RF_NMEA::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
      29             : {
      30             : // Format 2 DBT NMEA mode (e.g. $SMDBT,5.94,f,1.81,M,67)
      31             : // Format 3 DPT NMEA mode (e.g. $SMDPT,1.81,0.066)
      32             : 
      33        1583 :     ssize_t ret = snprintf((char*)buffer, buflen, "$SMDPT,%f,%f", alt_m, 0.01f);
      34        1583 :     uint8_t checksum = 0;
      35       38319 :     for (uint8_t i=1; i<ret; i++) { // 1 because the initial $ is skipped
      36       36736 :         checksum ^= buffer[i];
      37             :     }
      38        1583 :     ret += snprintf((char*)&buffer[ret], buflen-ret, "*%02X\r\n", checksum);
      39        1583 :     return ret;
      40             : }
      41             : 
      42        1583 : uint32_t RF_NMEA::packet_for_temperature(float temperature, uint8_t *buffer, uint8_t buflen)
      43             : {
      44        1583 :     ssize_t ret = snprintf((char*)buffer, buflen, "$SMMTW,%f %f", temperature, 0.01);
      45        1583 :     uint8_t checksum = 0;
      46       39575 :     for (uint8_t i=1; i<ret; i++) { // 1 because the initial $ is skipped
      47       37992 :         checksum ^= buffer[i];
      48             :     }
      49        1583 :     ret += snprintf((char*)&buffer[ret], buflen-ret, "*%02X\r\n", checksum);
      50        1583 :     return ret;
      51             : }