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40 lines
759 B
40 lines
759 B
#pragma once |
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#include "RangeFinder.h" |
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#include "RangeFinder_Backend.h" |
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#define PRU0_CTRL_BASE 0x4a322000 |
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#define PRU0_IRAM_BASE 0x4a334000 |
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#define PRU0_IRAM_SIZE 0x2000 |
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#define PRU0_DRAM_BASE 0x4a300000 |
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#define PRU0_DRAM_SIZE 0x2000 |
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struct range { |
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uint32_t distance; |
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uint32_t status; |
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}; |
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class AP_RangeFinder_BBB_PRU : public AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor |
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AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); |
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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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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
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return MAV_DISTANCE_SENSOR_ULTRASOUND; |
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} |
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private: |
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};
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