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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Claudio Micheli
8a313ffc26
- Removed blocking serial. - Added passing variables by reference to parser. - Removed commented code. Signed-off-by: Claudio Micheli <claudio@auterion.com>
74 lines
2.5 KiB
C
74 lines
2.5 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file cm8jl65.cpp
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* @author Claudio Micheli <claudio@auterion.com>
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*
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* Parser declarations for Lanbao PSK-CM8JL65-CC5 distance sensor
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*/
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#pragma once
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#include <stdint.h>
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// frame start delimiter
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#define START_FRAME_DIGIT1 0xA5
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#define START_FRAME_DIGIT2 0x5A
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// Frame format definition
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//
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// 1B 1B 1B 1B 2B
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// | 0xA5 | 0x5A | distance-MSB | distance-LSB | crc-16 |
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//
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// Frame data saved for CRC calculation
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#define DISTANCE_MSB_POS 2
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#define DISTANCE_LSB_POS 3
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#define PARSER_BUF_LENGTH 4
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enum CM8JL65_PARSE_STATE {
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STATE0_WAITING_FRAME = 0,
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STATE1_GOT_DIGIT1,
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STATE2_GOT_DIGIT2,
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STATE3_GOT_MSB_DATA,
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STATE4_GOT_LSB_DATA,
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STATE5_GOT_CHKSUM1,
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STATE6_GOT_CHKSUM2,
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};
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int cm8jl65_parser(uint8_t c, uint8_t parserbuf[PARSER_BUF_LENGTH], enum CM8JL65_PARSE_STATE &state, uint16_t &crc16,
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int &dist);
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