src/main/io/rangefinder_msp.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 #include <stdbool.h>
  26 #include <stdint.h>
  27 #include <ctype.h>
  28 #include <math.h>
  29
  30 #include "platform.h"
  31
  32 #include "build/build_config.h"
  33 #include "build/debug.h"
  34
  35 #include "common/maths.h"
  36
  37 #include "io/serial.h"
  38
  39 #if defined(USE_RANGEFINDER_MSP)
  40
  41 #include "drivers/rangefinder/rangefinder_virtual.h"
  42 #include "drivers/time.h"
  43 #include "io/rangefinder.h"
  44 #include "msp/msp_protocol_v2_sensor_msg.h"
  45
  46
  47 static bool hasNewData = false;
  48 static int32_t sensorData = RANGEFINDER_NO_NEW_DATA;
  49
  50 static bool mspRangefinderDetect(void)
  51 {
  52     // Always detectable
  53     return true;
  54 }
  55
  56 static void mspRangefinderInit(void)
  57 {
  58 }
  59
  60 static void mspRangefinderUpdate(void)
  61 {
  62 }
  63
  64 static int32_t mspRangefinderGetDistance(void)
  65 {
  66     if (hasNewData) {
  67         hasNewData = false;
  68         return (sensorData > 0) ? sensorData : RANGEFINDER_OUT_OF_RANGE;
  69     }
  70     else {
  71         return RANGEFINDER_NO_NEW_DATA;
  72     }
  73 }
  74
  75 void mspRangefinderReceiveNewData(uint8_t * bufferPtr)
  76 {
  77     const mspSensorRangefinderDataMessage_t * pkt = (const mspSensorRangefinderDataMessage_t *)bufferPtr;
  78
  79     sensorData = pkt->distanceMm / 10;
  80     hasNewData = true;
  81 }
  82
  83 virtualRangefinderVTable_t rangefinderMSPVtable = {
  84     .detect = mspRangefinderDetect,
  85     .init = mspRangefinderInit,
  86     .update = mspRangefinderUpdate,
  87     .read = mspRangefinderGetDistance
  88 };
  89
  90 #endif