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82 lines
2.5 KiB
82 lines
2.5 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_HAL/I2CDevice.h> |
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class AP_RangeFinder_VL53L0X : 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(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); |
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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_VL53L0X(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); |
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bool init(); |
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void timer(); |
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// check sensor ID |
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bool check_id(void); |
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// get a reading |
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bool get_reading(uint16_t &reading_cm); |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev; |
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uint8_t read_register(uint8_t reg); |
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uint16_t read_register16(uint8_t reg); |
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void write_register(uint8_t reg, uint8_t value); |
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void write_register16(uint8_t reg, uint16_t value); |
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struct SequenceStepEnables { |
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bool tcc:1, msrc:1, dss:1, pre_range:1, final_range:1; |
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}; |
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struct SequenceStepTimeouts { |
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uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks; |
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uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks; |
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uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us; |
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}; |
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struct RegData { |
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uint8_t reg; |
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uint8_t value; |
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}; |
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static const RegData tuning_data[]; |
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enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange }; |
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bool get_SPAD_info(uint8_t * count, bool *type_is_aperture); |
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void getSequenceStepEnables(SequenceStepEnables * enables); |
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uint32_t getMeasurementTimingBudget(void); |
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void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts); |
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uint8_t getVcselPulsePeriod(vcselPeriodType type); |
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uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks); |
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uint16_t decodeTimeout(uint16_t reg_val); |
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bool setMeasurementTimingBudget(uint32_t budget_us); |
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uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks); |
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uint16_t encodeTimeout(uint16_t timeout_mclks); |
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bool performSingleRefCalibration(uint8_t vhv_init_byte); |
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void start_continuous(void); |
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uint8_t stop_variable; |
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uint32_t measurement_timing_budget_us; |
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uint32_t start_ms; |
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uint32_t sum_mm; |
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uint32_t counter; |
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};
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