src/main/io/rangefinder_fake.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_FAKE)
  40 #include "drivers/rangefinder/rangefinder_virtual.h"
  41 #include "drivers/time.h"
  42 #include "io/rangefinder.h"
  43
  44 static bool hasNewData = false;
  45 static int32_t sensorData = RANGEFINDER_NO_NEW_DATA;
  46
  47 static bool fakeRangefinderDetect(void)
  48 {
  49     // Always detectable
  50     return true;
  51 }
  52
  53 static void fakeRangefinderInit(void)
  54 {
  55 }
  56
  57 static void fakeRangefinderUpdate(void)
  58 {
  59 }
  60
  61 static int32_t fakeRangefinderGetDistance(void)
  62 {
  63     if (hasNewData) {
  64         hasNewData = false;
  65         return (sensorData > 0) ? sensorData : RANGEFINDER_OUT_OF_RANGE;
  66     }
  67     else {
  68         return RANGEFINDER_NO_NEW_DATA;
  69     }
  70 }
  71
  72 void fakeRangefindersSetData(int32_t data)
  73 {
  74     sensorData = data;
  75     hasNewData = true;
  76 }
  77
  78 virtualRangefinderVTable_t rangefinderFakeVtable = {
  79     .detect = fakeRangefinderDetect,
  80     .init = fakeRangefinderInit,
  81     .update = fakeRangefinderUpdate,
  82     .read = fakeRangefinderGetDistance
  83 };
  84
  85
  86 #endif