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48 lines
1.2 KiB
48 lines
1.2 KiB
#pragma once |
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#include "AP_RangeFinder.h" |
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#include "AP_RangeFinder_Backend.h" |
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#ifndef AP_RANGEFINDER_HC_SR04_ENABLED |
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#define AP_RANGEFINDER_HC_SR04_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_RANGEFINDER_HC_SR04_ENABLED |
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#include "AP_RangeFinder_Params.h" |
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class AP_RangeFinder_HC_SR04 : public AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor |
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AP_RangeFinder_HC_SR04(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); |
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// static detection function |
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static bool detect(AP_RangeFinder_Params &_params); |
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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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bool check_pins(); |
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bool check_echo_pin(); |
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void check_trigger_pin(); |
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int8_t trigger_pin; |
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uint32_t last_reading_ms; // system time of last read (used for health reporting) |
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float last_distance_m; // last distance reported (used to prevent glitches in measurement) |
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uint8_t glitch_count; // glitch counter |
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AP_HAL::PWMSource pwm_source; |
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uint32_t last_ping_ms; |
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}; |
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#endif // AP_RANGEFINDER_HC_SR04_ENABLED
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