src/main/drivers/rangefinder/rangefinder_virtual.c

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  */
  24
  25 /*
  26  * This is a bridge driver between a sensor reader that operates at high level (i.e. on top of UART)
  27  */
  28
  29 #include <stdbool.h>
  30 #include <stdint.h>
  31 #include <string.h>
  32
  33 #include <platform.h>
  34
  35 #include "build/build_config.h"
  36
  37 #include "common/utils.h"
  38
  39 #include "drivers/rangefinder/rangefinder_virtual.h"
  40
  41 static const virtualRangefinderVTable_t * highLevelDeviceVTable = NULL;
  42
  43 static void virtualRangefinderInit(rangefinderDev_t * dev)
  44 {
  45     UNUSED(dev);
  46     return highLevelDeviceVTable->init();
  47 }
  48
  49 static void virtualRangefinderUpdate(rangefinderDev_t * dev)
  50 {
  51     UNUSED(dev);
  52     return highLevelDeviceVTable->update();
  53 }
  54
  55 static int32_t virtualRangefinderGetDistance(rangefinderDev_t * dev)
  56 {
  57     UNUSED(dev);
  58     return highLevelDeviceVTable->read();
  59 }
  60
  61 bool virtualRangefinderDetect(rangefinderDev_t * dev, const virtualRangefinderVTable_t * vtable)
  62 {
  63     if (vtable && vtable->detect()) {
  64         highLevelDeviceVTable = vtable;
  65
  66         dev->delayMs = RANGEFINDER_VIRTUAL_TASK_PERIOD_MS;
  67         dev->maxRangeCm = RANGEFINDER_VIRTUAL_MAX_RANGE_CM;
  68         dev->detectionConeDeciDegrees = RANGEFINDER_VIRTUAL_DETECTION_CONE_DECIDEGREES;
  69         dev->detectionConeExtendedDeciDegrees = RANGEFINDER_VIRTUAL_DETECTION_CONE_DECIDEGREES;
  70
  71         dev->init = &virtualRangefinderInit;
  72         dev->update = &virtualRangefinderUpdate;
  73         dev->read = &virtualRangefinderGetDistance;
  74
  75         return true;
  76     }
  77
  78     return false;
  79 }