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Support MaxBotix XL in addition to HRXL (#4510)

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JJ 2023-09-05 14:59:23 -07:00 committed by GitHub
parent ac5c6ec288
commit 82c1988a2d
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1 changed files with 19 additions and 8 deletions
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27
esphome/components/hrxl_maxsonar_wr/hrxl_maxsonar_wr.cpp
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@ -1,9 +1,10 @@
// Official Datasheet:
// https://www.maxbotix.com/documents/HRXL-MaxSonar-WR_Datasheet.pdf
// HRXL: https://www.maxbotix.com/documents/HRXL-MaxSonar-WR_Datasheet.pdf
// XL: https://www.maxbotix.com/documents/XL-MaxSonar-WR_Datasheet.pdf
//
// This implementation is designed to work with the TTL Versions of the
// MaxBotix HRXL MaxSonar WR sensor series. The sensor's TTL Pin (5) should be
// wired to one of the ESP's input pins and configured as uart rx_pin.
// MaxBotix HRXL and XL MaxSonar WR sensor series. The sensor's TTL Pin (5)
// should be wired to one of the ESP's input pins and configured as uart rx_pin.
#include "hrxl_maxsonar_wr.h"
#include "esphome/core/log.h"
@ -17,8 +18,10 @@ static const uint8_t ASCII_NBSP = 0xFF;
static const int MAX_DATA_LENGTH_BYTES = 6;
/**
* The sensor outputs something like "R1234\r" at a fixed rate of 6 Hz. Where
* 1234 means a distance of 1,234 m.
* HRXL sensors output the format "R1234\r" at 6Hz
* The 1234 means 1234mm
* XL sensors output the format "R123\r" at 5 to 10Hz
* The 123 means 123cm
*/
void HrxlMaxsonarWrComponent::loop() {
uint8_t data;
@ -42,9 +45,17 @@ void HrxlMaxsonarWrComponent::check_buffer_() {
if (this->buffer_.back() == static_cast<char>(ASCII_CR) || this->buffer_.length() >= MAX_DATA_LENGTH_BYTES) {
ESP_LOGV(TAG, "Read from serial: %s", this->buffer_.c_str());
if (this->buffer_.length() == MAX_DATA_LENGTH_BYTES && this->buffer_[0] == 'R' &&
this->buffer_.back() == static_cast<char>(ASCII_CR)) {
int millimeters = parse_number<int>(this->buffer_.substr(1, MAX_DATA_LENGTH_BYTES - 2)).value_or(0);
size_t rpos = this->buffer_.find(static_cast<char>(ASCII_CR));
if (this->buffer_.length() <= MAX_DATA_LENGTH_BYTES && this->buffer_[0] == 'R' && rpos != std::string::npos) {
std::string distance = this->buffer_.substr(1, rpos - 1);
int millimeters = parse_number<int>(distance).value_or(0);
// XL reports in cm instead of mm and reports 3 digits instead of 4
if (distance.length() == 3) {
millimeters = millimeters * 10;
}
float meters = float(millimeters) / 1000.0;
ESP_LOGV(TAG, "Distance from sensor: %d mm, %f m", millimeters, meters);
this->publish_state(meters);