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78 lines
2.7 KiB
C++
78 lines
2.7 KiB
C++
// Official Datasheet:
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// HRXL: https://www.maxbotix.com/documents/HRXL-MaxSonar-WR_Datasheet.pdf
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// XL: https://www.maxbotix.com/documents/XL-MaxSonar-WR_Datasheet.pdf
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//
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// This implementation is designed to work with the TTL Versions of the
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// MaxBotix HRXL and XL MaxSonar WR sensor series. The sensor's TTL Pin (5)
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// should be wired to one of the ESP's input pins and configured as uart rx_pin.
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#include "hrxl_maxsonar_wr.h"
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#include "esphome/core/log.h"
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namespace esphome {
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namespace hrxl_maxsonar_wr {
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static const char *const TAG = "hrxl.maxsonar.wr.sensor";
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static const uint8_t ASCII_CR = 0x0D;
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static const uint8_t ASCII_NBSP = 0xFF;
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static const int MAX_DATA_LENGTH_BYTES = 6;
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/**
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* HRXL sensors output the format "R1234\r" at 6Hz
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* The 1234 means 1234mm
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* XL sensors output the format "R123\r" at 5 to 10Hz
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* The 123 means 123cm
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*/
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void HrxlMaxsonarWrComponent::loop() {
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uint8_t data;
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while (this->available() > 0) {
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if (this->read_byte(&data)) {
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buffer_ += (char) data;
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this->check_buffer_();
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}
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}
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}
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void HrxlMaxsonarWrComponent::check_buffer_() {
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// The sensor seems to inject a rogue ASCII 255 byte from time to time. Get rid of that.
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if (this->buffer_.back() == static_cast<char>(ASCII_NBSP)) {
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this->buffer_.pop_back();
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return;
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}
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// Stop reading at ASCII_CR. Also prevent the buffer from growing
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// indefinitely if no ASCII_CR is received after MAX_DATA_LENGTH_BYTES.
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if (this->buffer_.back() == static_cast<char>(ASCII_CR) || this->buffer_.length() >= MAX_DATA_LENGTH_BYTES) {
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ESP_LOGV(TAG, "Read from serial: %s", this->buffer_.c_str());
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size_t rpos = this->buffer_.find(static_cast<char>(ASCII_CR));
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if (this->buffer_.length() <= MAX_DATA_LENGTH_BYTES && this->buffer_[0] == 'R' && rpos != std::string::npos) {
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std::string distance = this->buffer_.substr(1, rpos - 1);
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int millimeters = parse_number<int>(distance).value_or(0);
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// XL reports in cm instead of mm and reports 3 digits instead of 4
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if (distance.length() == 3) {
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millimeters = millimeters * 10;
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}
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float meters = float(millimeters) / 1000.0;
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ESP_LOGV(TAG, "Distance from sensor: %d mm, %f m", millimeters, meters);
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this->publish_state(meters);
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} else {
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ESP_LOGW(TAG, "Invalid data read from sensor: %s", this->buffer_.c_str());
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}
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this->buffer_.clear();
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}
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}
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void HrxlMaxsonarWrComponent::dump_config() {
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ESP_LOGCONFIG(TAG, "HRXL MaxSonar WR Sensor:");
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LOG_SENSOR(" ", "Distance", this);
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// As specified in the sensor's data sheet
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this->check_uart_settings(9600, 1, esphome::uart::UART_CONFIG_PARITY_NONE, 8);
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}
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} // namespace hrxl_maxsonar_wr
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} // namespace esphome
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