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drivers: added validity check

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This commit is contained in:
TSC21
2015-05-26 18:05:26 +01:00
parent f13510e8a6
commit 79e084a154
3 changed files with 14 additions and 2 deletions
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src/drivers/trone/trone.cpp
+8 -2
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@@ -125,6 +125,7 @@ private:
work_s _work;
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
uint8_t _valid;
int _measure_ticks;
bool _collect_phase;
int _class_instance;
@@ -211,7 +212,7 @@ static const uint8_t crc_table[] = {
0xfa, 0xfd, 0xf4, 0xf3
};
/* static uint8_t crc8(uint8_t *p, uint8_t len) {
static uint8_t crc8(uint8_t *p, uint8_t len) {
uint16_t i;
uint16_t crc = 0x0;
@@ -221,7 +222,7 @@ static const uint8_t crc_table[] = {
}
return crc & 0xFF;
}*/
}
/*
* Driver 'main' command.
@@ -234,6 +235,7 @@ TRONE::TRONE(int bus, int address) :
_max_distance(TRONE_MAX_DISTANCE),
_reports(nullptr),
_sensor_ok(false),
_valid(0),
_measure_ticks(0),
_collect_phase(false),
_class_instance(-1),
@@ -586,6 +588,10 @@ TRONE::collect()
/* TODO: set proper ID */
report.id = 0;
// This validation check can be used later
_valid = crc8(val, 2) == val[2] && (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0;
/* publish it, if we are the primary */
if (_distance_sensor_topic >= 0) {
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);