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.
101 lines
4.8 KiB
101 lines
4.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#ifndef __AP_RANGEFINDER_PULSEDLIGHTLRF_H__ |
|
#define __AP_RANGEFINDER_PULSEDLIGHTLRF_H__ |
|
|
|
#include "RangeFinder.h" |
|
|
|
/* Connection diagram |
|
* |
|
* ------------------------------------------------------------------------------------ |
|
* | J5-1(NA) J5-2(NA) J5-3(NA) J5-4(NA) J5-5(NA) | |
|
* | J1-1(GND) J2-5(I2C Data) | |
|
* | J1-2(5V) J2-4(I2C Clk) | |
|
* | J1-3(Enable) J2-3(NA) | |
|
* | J1-4(Ser RX) J2-2(Laser 5-20V) | |
|
* | J1-5(Ser TX) (HV Bypass) J2-1(Boost 5V) | |
|
* | | |
|
* | J6-1(NA) J6-2(NA) | |
|
* ------------------------------------------------------------------------------------ |
|
* |
|
* To connect to APM2.x: |
|
* APM I2C Clock <-> J2-4 |
|
* APM I2C Data <-> J2-5 |
|
* APM GND (from output Rail) <-> J1-1 |
|
* APM 5V (from output Rail fed by ESC or BEC) <-> J1-2 |
|
* |
|
* APM2.x's I2C connector from outside edge: GND, Data, CLK, 3.3V |
|
*/ |
|
|
|
// i2c address |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR 0x70 |
|
|
|
// min and max distances |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MIN_DISTANCE 0 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MAX_DISTANCE 1400 |
|
|
|
// registers |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_COMMAND_REG 0x00 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MODESTATUS_REG 0x01 // mode & status register to turn on/off continuous measurements and averaging |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_SIGNALSTRENGTH_REG 0x05 // signal strenght |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_VELOCITY_REG 0x06 // velocity sensed |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG 0x07 // high byte of distance measurement |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTLOW_REG 0x08 // low byte of distance measurement |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_PROCESSINGCNTRL_REG 0x09 // to set criteria for successful reads including min/max distances and signal strengths |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_REG 0x13 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CONTINUOUSRATE_REG 0x14 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AUTOINCREMENT 0x80 // To-Do: this does not work - we still need to read from each registry individually instead of reading from multiple contiguous registries all at once |
|
|
|
// command register values |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_ACQUISITION 0x01 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_READBLOCK 0x02 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_READWRITE_RAM 0x03 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_ERASEFLASH 0x04 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_POWERDOWN 0x06 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_READFLASH 0x07 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_SOFTRESET 0x09 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_STOREUSERCMD 0x0a |
|
|
|
// mode & status - valid values for mode/status register 0x01 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MODESTATUS_CONTINUOUS 0x20 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MODESTATUS_AVERAGING 0x80 |
|
|
|
// averaging - valid values for averaging register 0x13 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_NONE 0 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_2 1 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_4 2 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_8 3 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_16 4 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_64 5 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_128 6 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_256 8 |
|
|
|
// continuous rates - valid values for continuous rate register 0x14 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CONTINUOUSRATE_100_HZ 1 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CONTINUOUSRATE_10_HZ 10 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CONTINUOUSRATE_1_HZ 100 |
|
|
|
class AP_RangeFinder_PulsedLightLRF : public RangeFinder |
|
{ |
|
|
|
public: |
|
|
|
// constructor |
|
AP_RangeFinder_PulsedLightLRF(FilterInt16 *filter); |
|
|
|
// init - simply sets the i2c address |
|
void init(uint8_t address = AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR); |
|
|
|
// take_reading - ask sensor to make a range reading |
|
bool take_reading(); |
|
|
|
// read value from sensor and return distance in cm |
|
int16_t read(); |
|
|
|
// heath |
|
bool healthy; |
|
|
|
protected: |
|
uint8_t _addr; |
|
}; |
|
#endif // __AP_RANGEFINDER_PULSEDLIGHTLRF_H__
|
|
|