Updated and fixed parser for SF02/F laser sensor, test harness runs clean

2026-10-31 04:31:36 +08:00 · 2014-10-07 12:46:09 +02:00
parent 8d187cc2fa
commit 72fbd76c84
6 changed files with 222 additions and 115 deletions
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sf0x_parser.cpp
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Declarations of parser for the Lightware SF0x laser rangefinder series
+ */
+
+enum SF0X_PARSE_STATE {
+	SF0X_PARSE_STATE0_UNSYNC = 0,
+	SF0X_PARSE_STATE1_SYNC,
+	SF0X_PARSE_STATE2_GOT_DIGIT0,
+	SF0X_PARSE_STATE3_GOT_DOT,
+	SF0X_PARSE_STATE4_GOT_DIGIT1,
+	SF0X_PARSE_STATE5_GOT_DIGIT2,
+	SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN
+};
+
+int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist);