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 Wasp serial rangefinder
      17             : 
      18             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:wasp --speedup=1
      19             : 
      20             : param set SERIAL5_PROTOCOL 9
      21             : param set RNGFND1_TYPE 18
      22             : graph RANGEFINDER.distance
      23             : graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
      24             : reboot
      25             : 
      26             : arm throttle
      27             : rc 3 1600
      28             : */
      29             : 
      30             : #pragma once
      31             : 
      32             : #include "SIM_SerialRangeFinder.h"
      33             : 
      34             : namespace SITL {
      35             : 
      36             : class RF_Wasp : public SerialRangeFinder {
      37             : public:
      38             : 
      39           1 :     static SerialRangeFinder *create() { return NEW_NOTHROW RF_Wasp(); }
      40             : 
      41             :     void update(float range) override;
      42             : 
      43             :     uint32_t packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen) override;
      44             : 
      45             :     // 20Hz; if Wasp driver doesn't get a reading each time its update
      46             :     // is called it goes NoData
      47       85099 :     uint16_t reading_interval_ms() const override { return 50; }
      48             : 
      49             : private:
      50             : 
      51             :     void check_configuration();
      52             : 
      53             :     struct {
      54             :         bool go;
      55             :         char format[16]; // e.g. ASCII
      56             :         char baud[5]; // low or high
      57             :         char lbe[7]; // big or little
      58             :         int frq;
      59             :         int aut;
      60             :         int mavg;
      61             :         int medf;
      62             :         int avg;
      63             :         int auv;
      64             :     } config;
      65             : 
      66             :     const struct {
      67             :         const char *name;
      68             :         char *value;
      69             :     } string_configs[3] {
      70             :         { "FMT", config.format },
      71             :         { "BAUD", config.baud },
      72             :         { "LBE", config.lbe },
      73             :     };
      74             :     const struct {
      75             :         const char *name;
      76             :         int *value;
      77             :     } integer_configs[6] {
      78             :         { "FRQ", &config.frq },
      79             :         { "AUT", &config.aut },
      80             :         { "MAVG", &config.mavg },
      81             :         { "MEDF", &config.medf },
      82             :         { "AVG", &config.avg },
      83             :         { "AUV", &config.auv },
      84             :     };
      85             : 
      86             :     char _buffer[256]; // from-autopilot
      87             :     uint8_t _buflen;
      88             : 
      89             : };
      90             : 
      91             : }