hrxl_maxsonar_wr.cpp

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// Official Datasheet:
//   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 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"
 
namespace esphome::hrxl_maxsonar_wr {
 
ESPHOME_LOG_TAG(TAG, "hrxl.maxsonar.wr.sensor");
 
void HrxlMaxsonarWrComponent::loop() {
  this->read_available([this](uint8_t data) {
    size_t len;
    const char *line = this->line_reader_.feed(data, len);
    if (line != nullptr) {
      ESP_LOGV(TAG, "Read from serial: %s", line);
      this->handle_line_(line, len);
    } else if (this->line_reader_.overflowed()) {
      // No CR in time: report it and start over with the next byte
      ESP_LOGW(TAG, "Invalid data read from sensor: %s", this->line_reader_.partial());
      this->line_reader_.reset();
    }
  });
}
 
void HrxlMaxsonarWrComponent::handle_line_(const char *line, size_t len) {
  if (line[0] != 'R') {
    ESP_LOGW(TAG, "Invalid data read from sensor: %s", line);
    return;
  }
  int millimeters = parse_number<int>(line + 1).value_or(0);
 
  // XL reports in cm instead of mm and reports 3 digits instead of 4
  if (len == 4) {
    millimeters *= 10;
  }
 
  float meters = float(millimeters) / 1000.0f;
  ESP_LOGV(TAG, "Distance from sensor: %d mm, %f m", millimeters, meters);
  this->publish_state(meters);
}
 
void HrxlMaxsonarWrComponent::dump_config() {
  ESP_LOGCONFIG(TAG, "HRXL MaxSonar WR Sensor:");
  LOG_SENSOR("  ", "Distance", this);
}
 
}  // namespace esphome::hrxl_maxsonar_wr