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42 lines
1.2 KiB
42 lines
1.2 KiB
#pragma once |
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#include "AP_RangeFinder.h" |
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#include "AP_RangeFinder_Backend.h" |
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#include <AP_HAL/I2CDevice.h> |
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class AP_RangeFinder_TeraRangerI2C : 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, |
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AP_RangeFinder_Params &_params, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_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_TeraRangerI2C(RangeFinder::RangeFinder_State &_state, |
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AP_RangeFinder_Params &_params, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev); |
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bool measure(void); |
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bool collect_raw(uint16_t &raw_distance); |
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bool process_raw_measure(uint16_t raw_distance, uint16_t &distance_cm); |
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bool init(void); |
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void timer(void); |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev; |
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struct { |
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uint32_t sum; |
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uint32_t count; |
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} accum; |
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};
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