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68 lines
2.2 KiB
68 lines
2.2 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_PULSEDLIGHTLRF_ENABLED |
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#define AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED |
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#include <AP_HAL/I2CDevice.h> |
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/* Connection diagram |
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* |
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* ------------------------------------------------------------------------------------ |
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* | J2-1(LED) J2-2(5V) J2-3(Enable) J2-4(Ref Clk) J2-5(GND) J2-6(GND) | |
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* | | |
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* | | |
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* | J1-3(I2C Clk) J1-2(I2C Data) J1-1(GND) | |
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* ------------------------------------------------------------------------------------ |
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*/ |
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class AP_RangeFinder_PulsedLightLRF : public AP_RangeFinder_Backend |
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{ |
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public: |
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// static detection function |
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static AP_RangeFinder_Backend *detect(uint8_t bus, |
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RangeFinder::RangeFinder_State &_state, |
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AP_RangeFinder_Params &_params, |
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RangeFinder::Type rftype); |
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// update state |
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void update(void) override {} |
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protected: |
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
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return MAV_DISTANCE_SENSOR_LASER; |
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} |
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private: |
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// constructor |
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AP_RangeFinder_PulsedLightLRF(uint8_t bus, |
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RangeFinder::RangeFinder_State &_state, |
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AP_RangeFinder_Params &_params, |
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RangeFinder::Type rftype); |
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// start a reading |
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bool init(void); |
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void timer(void); |
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bool lidar_transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len); |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev; |
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uint8_t sw_version; |
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uint8_t hw_version; |
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uint8_t check_reg_counter; |
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bool v2_hardware; |
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bool v3hp_hardware; |
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uint16_t last_distance_cm; |
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RangeFinder::Type rftype; |
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enum { PHASE_MEASURE, PHASE_COLLECT } phase; |
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}; |
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#endif // AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
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