Merge master into attitude EKF update

1 files changed, 155 insertions, 0 deletions

diff --git a/src/drivers/sf0x/sf0x_parser.cpp b/src/drivers/sf0x/sf0x_parser.cpp
new file mode 100644
index 000000000..8e73b0ad3
--- /dev/null
+++ b/src/drivers/sf0x/sf0x_parser.cpp
@@ -0,0 +1,155 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sf0x_parser.cpp
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Driver for the Lightware SF0x laser rangefinder series
+ */
+
+#include "sf0x_parser.h"
+#include <string.h>
+#include <stdlib.h>
+
+//#define SF0X_DEBUG
+
+#ifdef SF0X_DEBUG
+#include <stdio.h>
+
+const char *parser_state[] = {
+	"0_UNSYNC",
+	"1_SYNC",
+	"2_GOT_DIGIT0",
+	"3_GOT_DOT",
+	"4_GOT_DIGIT1",
+	"5_GOT_DIGIT2",
+	"6_GOT_CARRIAGE_RETURN"
+};
+#endif
+
+int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist)
+{
+	int ret = -1;
+	char *end;
+
+	switch (*state) {
+	case SF0X_PARSE_STATE0_UNSYNC:
+		if (c == '\n') {
+			*state = SF0X_PARSE_STATE1_SYNC;
+			(*parserbuf_index) = 0;
+		}
+
+		break;
+
+	case SF0X_PARSE_STATE1_SYNC:
+		if (c >= '0' && c <= '9') {
+			*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
+			parserbuf[*parserbuf_index] = c;
+			(*parserbuf_index)++;
+		}
+
+		break;
+
+	case SF0X_PARSE_STATE2_GOT_DIGIT0:
+		if (c >= '0' && c <= '9') {
+			*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
+			parserbuf[*parserbuf_index] = c;
+			(*parserbuf_index)++;
+
+		} else if (c == '.') {
+			*state = SF0X_PARSE_STATE3_GOT_DOT;
+			parserbuf[*parserbuf_index] = c;
+			(*parserbuf_index)++;
+
+		} else {
+			*state = SF0X_PARSE_STATE0_UNSYNC;
+		}
+
+		break;
+
+	case SF0X_PARSE_STATE3_GOT_DOT:
+		if (c >= '0' && c <= '9') {
+			*state = SF0X_PARSE_STATE4_GOT_DIGIT1;
+			parserbuf[*parserbuf_index] = c;
+			(*parserbuf_index)++;
+
+		} else {
+			*state = SF0X_PARSE_STATE0_UNSYNC;
+		}
+
+		break;
+
+	case SF0X_PARSE_STATE4_GOT_DIGIT1:
+		if (c >= '0' && c <= '9') {
+			*state = SF0X_PARSE_STATE5_GOT_DIGIT2;
+			parserbuf[*parserbuf_index] = c;
+			(*parserbuf_index)++;
+
+		} else {
+			*state = SF0X_PARSE_STATE0_UNSYNC;
+		}
+
+		break;
+
+	case SF0X_PARSE_STATE5_GOT_DIGIT2:
+		if (c == '\r') {
+			*state = SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN;
+
+		} else {
+			*state = SF0X_PARSE_STATE0_UNSYNC;
+		}
+
+		break;
+
+	case SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN:
+		if (c == '\n') {
+			parserbuf[*parserbuf_index] = '\0';
+			*dist = strtod(parserbuf, &end);
+			*state = SF0X_PARSE_STATE1_SYNC;
+			*parserbuf_index = 0;
+			ret = 0;
+
+		} else {
+			*state = SF0X_PARSE_STATE0_UNSYNC;
+		}
+
+		break;
+	}
+
+#ifdef SF0X_DEBUG
+	printf("state: SF0X_PARSE_STATE%s\n", parser_state[*state]);
+#endif
+
+	return ret;
+}
\ No newline at end of file