mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
72 lines
2.7 KiB
C++
72 lines
2.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulator for the DTS6012M serial rangefinder
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*/
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#include "SIM_config.h"
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#if AP_SIM_RF_DTS6012M_ENABLED
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#include "SIM_RF_DTS6012M.h"
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#include <AP_Math/crc.h>
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using namespace SITL;
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uint32_t RF_DTS6012M::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
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{
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const uint8_t PACKET_LEN = 23;
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if (buflen < PACKET_LEN) {
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abort();
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}
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// sensor sends 0xFFFF when out of range (confirmed on hardware)
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const uint16_t dist_mm = (alt_m * 1000 > 20000) ? 0xFFFF : (uint16_t)(alt_m * 1000);
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// 7-byte header
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buffer[0] = 0xA5; // frame header
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buffer[1] = 0x03; // device ID
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buffer[2] = 0x20; // device type
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buffer[3] = 0x01; // command echo (start stream)
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buffer[4] = 0x00; // reserved
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buffer[5] = 0x00; // data length high byte (14 = 0x000E, big-endian)
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buffer[6] = 0x0E; // data length low byte
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// 14-byte data payload
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buffer[7] = 0xFF; // secondary target distance low byte (0xFFFF = invalid)
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buffer[8] = 0xFF; // secondary target distance high byte
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buffer[9] = 0x00; // secondary target correction low
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buffer[10] = 0x00; // secondary target correction high
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buffer[11] = 0x00; // secondary target intensity low
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buffer[12] = 0x00; // secondary target intensity high
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buffer[13] = dist_mm & 0xFF; // primary target distance low byte (little-endian, mm)
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buffer[14] = dist_mm >> 8; // primary target distance high byte
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buffer[15] = 0x00; // primary target correction low
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buffer[16] = 0x00; // primary target correction high
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buffer[17] = 0x10; // primary target intensity low byte (10000 = 0x2710 → 100% quality)
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buffer[18] = 0x27; // primary target intensity high byte
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buffer[19] = 0x00; // sunlight base low
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buffer[20] = 0x00; // sunlight base high
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// CRC-16/MODBUS over bytes 0–20, stored big-endian (high byte first)
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const uint16_t crc = calc_crc_modbus(buffer, PACKET_LEN - 2);
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buffer[21] = crc >> 8; // CRC high byte
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buffer[22] = crc & 0xFF; // CRC low byte
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return PACKET_LEN;
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}
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#endif // AP_SIM_RF_DTS6012M_ENABLED
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