You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
36 lines
1012 B
36 lines
1012 B
#pragma once |
|
|
|
#include "AP_Proximity_Backend_Serial.h" |
|
|
|
#if HAL_PROXIMITY_ENABLED |
|
#define PROXIMITY_TRTOWER_TIMEOUT_MS 300 // requests timeout after 0.3 seconds |
|
|
|
class AP_Proximity_TeraRangerTower : public AP_Proximity_Backend_Serial |
|
{ |
|
|
|
public: |
|
|
|
using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial; |
|
|
|
// update state |
|
void update(void) override; |
|
|
|
// get maximum and minimum distances (in meters) of sensor |
|
float distance_max() const override; |
|
float distance_min() const override; |
|
|
|
private: |
|
|
|
// check and process replies from sensor |
|
bool read_sensor_data(); |
|
void update_sector_data(int16_t angle_deg, uint16_t distance_mm); |
|
|
|
// reply related variables |
|
uint8_t buffer[20]; // buffer where to store data from serial |
|
uint8_t buffer_count; |
|
|
|
// request related variables |
|
uint32_t _last_distance_received_ms; // system time of last distance measurement received from sensor |
|
}; |
|
|
|
#endif // HAL_PROXIMITY_ENABLED
|
|
|