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 USD1 v0 rangefinder
      17             : */
      18             : 
      19             : #include "SIM_RF_USD1_v0.h"
      20             : 
      21             : using namespace SITL;
      22             : 
      23         354 : uint32_t RF_USD1_v0::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
      24             : {
      25         354 :     const uint16_t reading = alt_m * 100 / 2.5f;
      26         354 :     buffer[0] = 0x48;
      27         354 :     buffer[1] = reading & 0x7f;
      28         354 :     buffer[2] = (reading >> 7) & 0xff;
      29             : 
      30             :     // the detection routine is crap, frankly.  Needs lots of bytes
      31             :     // *in one read* to work.
      32         354 :     buffer[3] = 0x48;
      33         354 :     buffer[4] = reading & 0x7f;
      34         354 :     buffer[5] = (reading >> 7) & 0xff;
      35         354 :     return 6;
      36             : }