SDM15.h

// Copyright © 2023 Being24. MIT.
#ifndef SDM15_H_
#define SDM15_H_

#include <Arduino.h>

struct VersionInfo {
  bool checksum_error;
  int model;
  int hardware_version;
  int firmware_version_major;
  int firmware_version_minor;
  String serial_number;
};

struct TestResult {
  bool checksum_error;
  bool self_check_result;
  byte self_check_error_code;
  byte test_data[32];
};

struct ScanData {
  bool checksum_error;
  int distance;
  int intensity;
  int disturb;
};

const int PACKET_HED1 = 0xAA;
const int PACKET_HED2 = 0x55;
const int START_SCAN = 0x60;
const int STOP_SCAN = 0x61;
const int GET_DEVICE_INFO = 0x62;
const int SELF_TEST = 0x63;
const int SET_OUTPUT_FREQ = 0x64;
const int SET_FILTER = 0x65;
const int SET_SERIAL_BAUD = 0x66;
const int SET_FORMAT_OUTPUT_DATA = 0x67;
const int RESTORE_FACTORY_SETTINGS = 0x68;
const int NO_DATA = 0x00;

enum Freq {
  Freq_10Hz = 0x00,
  Freq_100Hz = 0x01,
  Freq_200Hz = 0x02,
  Freq_500Hz = 0x03,
  Freq_1000Hz = 0x04,
  Freq_1800Hz = 0x05
};

enum FilterHex {
  Off = 0x00,
  On = 0x01
};

enum OutputDataFormatHex {
  Standard = 0x00,
  Pixhawk = 0x01
};

enum BaudRateHex {
  BAUD_230400 = 0x00,
  BAUD_460800 = 0x01,
  BAUD_512000 = 0x02,
  BAUD_921600 = 0x03,
  BAUD_1500000 = 0x04
};

class SDM15 {
 public:
  explicit SDM15(HardwareSerial &serial) : _sensor_serial(serial) {}
  VersionInfo ObtainVersionInfo();
  TestResult SelfCheckTest();
  bool StartScan();
  bool StopScan();
  ScanData GetScanData();
  bool SetOutputFrequency(Freq freq);
  bool SetFilter(FilterHex filter);
  bool SetBaudRate(BaudRateHex baud);
  bool SetOutputDataFormat(OutputDataFormatHex format);
  bool RestoreFactorySettings();

 private:
  byte CalculateChecksum(byte *recv, int size);
  void ClearBuffer();
  HardwareSerial &_sensor_serial;
};

#endif  // SDM15_H_