From dce78c05f584cb1d40992070174a215c91b38cc2 Mon Sep 17 00:00:00 2001
From: Lennart Eriksson <lennart.eriksson91@gmail.com>
Date: Fri, 25 Nov 2016 11:52:00 +0100
Subject: [PATCH] Added ping sensor data to the system

---
 UAV-ControlSystem/inc/drivers/arduino_com.h | 12 ++++++++++++
 UAV-ControlSystem/src/drivers/arduino_com.c | 10 ++++++++++
 2 files changed, 22 insertions(+)

diff --git a/UAV-ControlSystem/inc/drivers/arduino_com.h b/UAV-ControlSystem/inc/drivers/arduino_com.h
index 627692a..e274513 100644
--- a/UAV-ControlSystem/inc/drivers/arduino_com.h
+++ b/UAV-ControlSystem/inc/drivers/arduino_com.h
@@ -37,12 +37,24 @@ typedef struct gps_data_t {
 	uint8_t crc;
 } gps_data_t;
 
+/***********************************************************************
+* BRIEF: RX packet structure from arduino com                          *
+* INFORMATION: Contains the whole ping sensor data message			   *
+***********************************************************************/
+typedef struct ping_data_t {
+	uint8_t header;
+	uint16_t distance_mm;
+	uint8_t crc;
+}ping_data_t;
+
 /* An instance of the GPS data read from Arduino Com */
 gps_data_t gps_data;
 
 /* An instance of the compass data read from Arduino Com */
 compass_data_t compass_data;
 
+/* An instance of the ping data read from Arduino Com */
+ping_data_t ping_data;
 
 /***********************************************************************
 * BRIEF: Initializes the UART for Arduino com                          *
diff --git a/UAV-ControlSystem/src/drivers/arduino_com.c b/UAV-ControlSystem/src/drivers/arduino_com.c
index 0068ea9..6860400 100644
--- a/UAV-ControlSystem/src/drivers/arduino_com.c
+++ b/UAV-ControlSystem/src/drivers/arduino_com.c
@@ -13,6 +13,7 @@
 
 #define COMPASS_PACKET_SIZE 8
 #define GPS_PACKET_SIZE 10
+#define PING_PACKET_SIZE 4
 #define ARDUINO_SENSOR_SIZE 6
 
 typedef struct arduino_sensor_t {
@@ -56,6 +57,7 @@ dma_usart_return raw_dma_data_t;
 enum packet_ids {
 	COMPASS_PACKET_ID 	= 0xA1,
 	GPS_PACKET_ID 		= 0xB1,
+	PING_PACKET_ID		= 0xC1,
 };
 
 // Structure used to hold the data for "data_arr"
@@ -68,6 +70,7 @@ typedef struct arduino_data_t {
 enum arduino_data_e {
 	COMPASS_DATA_ID,
 	GPS_DATA_ID,
+	PING_DATA_ID,
 	ARDUINO_DATA_COUNT,
 };
 
@@ -81,6 +84,10 @@ arduino_data_t data_arr[ARDUINO_DATA_COUNT] = {
 			.size = GPS_PACKET_SIZE,
 			.dataPtr = &gps_data,
 		},
+		[PING_DATA_ID] = {
+				.size = PING_PACKET_SIZE,
+				.dataPtr = &ping_data,
+		},
 };
 
 
@@ -144,6 +151,9 @@ arduino_data_t find_packet_from_header(uint8_t header)
 		case GPS_PACKET_ID:
 			arduino_data = data_arr[GPS_DATA_ID];
 			break;
+		case PING_PACKET_ID:
+			arduino_data = data_arr[PING_DATA_ID];
+			break;
 		default:
 			break;
 	}