AP_RangeFinder:add support for RDS02UF radar driver on serial #21646
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parameter RNGFND1_TYPE is 36
| AP_RangeFinder_RDS02UF::AP_RangeFinder_RDS02UF( | ||
| RangeFinder::RangeFinder_State &_state, | ||
| AP_RangeFinder_Params &_params): | ||
| AP_RangeFinder_Backend_Serial(_state, _params) | ||
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should be able to do a
use AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
in the header instead of this empty constructor.
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thanks for the directions. I will make some changes before submitting them.
| uint16_t count = 0; | ||
| int16_t nbytes = uart->available(); | ||
| while (nbytes-- > 0) { | ||
| uint8_t c = uart->read(); |
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This isn't the return type of read. Need to check for read failure here.
| uint8_t parserbuf_index; | ||
| uint8_t rev_buffer[RDS02_BUFFER_SIZE]; |
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These should have similar names.
| */ | ||
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| /** | ||
| * RDS02UF Note: |
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Need a reference to the datasheet up in here somewhere.
| if((data_fc & 0xf0f) == RDS02_TARGET_INFO){ // data_fc = 0x70C + ID * 0x10, ID: 0~0xF | ||
| float distance = (rev_buffer[RDS02_DATA_Y_INDEX_H] * 256 + rev_buffer[RDS02_DATA_Y_INDEX_L]) / 100.0f; | ||
| _distance_m = distance; | ||
| _distance_m = MIN(MAX(RDS02UF_DIST_MIN_CM, uint16_t(_distance_m*100)), RDS02UF_DIST_MAX_CM) * 0.01f; |
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This shouldn't be constrained - this should be used to set the rangefinder as out-of-range-low or out-of-range-high
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I created a simulator for this device over here: #21647 |
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| bool decode(uint8_t c); | ||
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| const uint8_t crc8_table[256] = { |
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Bitwise operations eliminate the need for tables.
This saves 256 bytes of flash memory.
| using namespace SITL; | ||
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| const uint8_t crc8_table[256] = { |
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Bitwise operations eliminate the need for tables.
This saves 256 bytes of flash memory.
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We merged a different PR here, also by @zebulon-86 : #23056 @zebulon-86 next time, perhaps, force-push branches rather than opening new PRs :-) Thanks! |
AP_RangeFinder:add support for RDS02UF radar driver on serial
parameter RNGFND1_TYPE is 36
RDS02UF features: