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83 lines
2.4 KiB
83 lines
2.4 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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/* |
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* AP_IRLock_PX4.cpp |
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* |
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* Created on: Nov 16, 2014 |
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* Author: MLandes |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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#include "AP_IRLock_PX4.h" |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include "drivers/drv_irlock.h" |
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extern const AP_HAL::HAL& hal; |
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AP_IRLock_PX4::AP_IRLock_PX4() : |
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_fd(0), |
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_last_timestamp(0) |
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{} |
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void AP_IRLock_PX4::init() |
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{ |
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_fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY); |
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if (_fd < 0) { |
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hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n"); |
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return; |
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} |
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_flags.healthy = true; |
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} |
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// retrieve latest sensor data - returns true if new data is available |
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bool AP_IRLock_PX4::update() |
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{ |
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// return immediately if not healthy |
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if (!_flags.healthy) { |
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return false; |
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} |
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// read position of all objects |
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struct irlock_s report; |
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uint16_t count = 0; |
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while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s) && report.timestamp >_last_timestamp) { |
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_target_info[count].timestamp = report.timestamp; |
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_target_info[count].target_num = report.target_num; |
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_target_info[count].angle_x = report.angle_x; |
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_target_info[count].angle_y = report.angle_y; |
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_target_info[count].size_x = report.size_x; |
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_target_info[count].size_y = report.size_y; |
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count++; |
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_last_timestamp = report.timestamp; |
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_last_update = AP_HAL::millis(); |
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} |
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// update num_blocks and implement timeout |
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if (count > 0) { |
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_num_targets = count; |
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} else if ((AP_HAL::millis() - _last_update) > IRLOCK_TIMEOUT_MS) { |
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_num_targets = 0; |
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} |
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// return true if new data found |
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return (_num_targets > 0); |
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} |
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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