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41 lines
1.1 KiB
41 lines
1.1 KiB
#pragma once |
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#include "RangeFinder.h" |
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#include "RangeFinder_Backend.h" |
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#include <AP_HAL/I2CDevice.h> |
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#define AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR 0x70 |
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#define AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING 0x51 |
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class AP_RangeFinder_MaxsonarI2CXL : 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_HAL::OwnPtr<AP_HAL::I2CDevice> dev); |
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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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// constructor |
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AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); |
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bool _init(void); |
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void _timer(void); |
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uint16_t distance; |
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bool new_distance; |
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// start a reading |
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bool start_reading(void); |
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bool get_reading(uint16_t &reading_cm); |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev; |
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};
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