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.
76 lines
2.2 KiB
76 lines
2.2 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
|
|
/* |
|
* AP_IRLock_PX4.cpp |
|
* |
|
* Created on: Nov 16, 2014 |
|
* Author: MLandes |
|
*/ |
|
#include <AP_HAL/AP_HAL.h> |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
|
#include "AP_IRLock_PX4.h" |
|
|
|
#include <fcntl.h> |
|
#include <unistd.h> |
|
#include "drivers/drv_irlock.h" |
|
|
|
extern const AP_HAL::HAL& hal; |
|
|
|
AP_IRLock_PX4::AP_IRLock_PX4() : |
|
_fd(0) |
|
{} |
|
|
|
void AP_IRLock_PX4::init() |
|
{ |
|
_fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY); |
|
if (_fd < 0) { |
|
hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n"); |
|
return; |
|
} |
|
|
|
_flags.healthy = true; |
|
} |
|
|
|
// retrieve latest sensor data - returns true if new data is available |
|
bool AP_IRLock_PX4::update() |
|
{ |
|
// return immediately if not healthy |
|
if (!_flags.healthy) { |
|
return false; |
|
} |
|
|
|
// read position of all objects |
|
bool new_data = false; |
|
struct irlock_s report; |
|
while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s)) { |
|
new_data = true; |
|
_num_targets = report.num_targets; |
|
for (uint8_t i=0; i<report.num_targets; i++) { |
|
_target_info[i].timestamp = report.timestamp; |
|
_target_info[i].pos_x = report.targets[i].pos_x; |
|
_target_info[i].pos_y = report.targets[i].pos_y; |
|
_target_info[i].size_x = report.targets[i].size_x; |
|
_target_info[i].size_y = report.targets[i].size_y; |
|
} |
|
_last_update_ms = AP_HAL::millis(); |
|
} |
|
|
|
// return true if new data found |
|
return new_data; |
|
} |
|
|
|
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
|