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57 lines
1.3 KiB
57 lines
1.3 KiB
#pragma once |
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#include "AP_RangeFinder.h" |
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#include "AP_RangeFinder_Backend.h" |
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#include <AP_BoardConfig/AP_BoardConfig.h> |
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#ifndef AP_RANGEFINDER_BBB_PRU_ENABLED |
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#define AP_RANGEFINDER_BBB_PRU_ENABLED ( \ |
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AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && \ |
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI \ |
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) |
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#endif |
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#if AP_RANGEFINDER_BBB_PRU_ENABLED |
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#define PRU0_CTRL_BASE 0x4a322000 |
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#define PRU0_IRAM_BASE 0x4a334000 |
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#define PRU0_IRAM_SIZE 0x2000 |
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#define PRU0_DRAM_BASE 0x4a300000 |
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#define PRU0_DRAM_SIZE 0x2000 |
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struct range { |
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uint32_t distance; |
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uint32_t status; |
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}; |
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class AP_RangeFinder_BBB_PRU : public AP_RangeFinder_Backend |
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{ |
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public: |
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/* |
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Constructor: |
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The constructor also initialises the rangefinder. Note that this |
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constructor is not called until detect() returns true, so we |
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already know that we should setup the rangefinder |
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*/ |
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using AP_RangeFinder_Backend::AP_RangeFinder_Backend; |
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// static detection function |
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static bool detect(); |
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// update state |
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void update(void) override; |
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protected: |
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
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return MAV_DISTANCE_SENSOR_ULTRASOUND; |
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} |
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private: |
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}; |
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#endif
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