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60 lines
1.7 KiB
60 lines
1.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include "AP_RangeFinder.h" |
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#include "AP_RangeFinder_Backend.h" |
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class AP_RangeFinder_PWM : public AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor |
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AP_RangeFinder_PWM(RangeFinder::RangeFinder_State &_state, |
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AP_RangeFinder_Params &_params, |
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float &_estimated_terrain_height); |
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// destructor |
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~AP_RangeFinder_PWM(void) {}; |
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// static detection function |
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static bool detect(); |
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// update state |
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void update(void) override; |
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protected: |
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bool get_reading(uint16_t &reading_cm); |
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
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return MAV_DISTANCE_SENSOR_UNKNOWN; |
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} |
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private: |
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bool check_pin(); |
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void check_stop_pin(); |
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bool check_pins(); |
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uint8_t last_stop_pin = -1; |
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AP_HAL::PWMSource pwm_source; |
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float &estimated_terrain_height; |
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// return true if we are beyond the power saving range |
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bool out_of_range(void) const; |
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bool was_out_of_range = -1; // this odd initialisation ensures we transition to new state |
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};
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