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57 lines
1.8 KiB
57 lines
1.8 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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#pragma once |
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#include "RangeFinder.h" |
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#include "RangeFinder_Backend.h" |
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class AP_RangeFinder_PWM : public AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor |
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AP_RangeFinder_PWM(RangeFinder::RangeFinder_State &_state); |
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// destructor |
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~AP_RangeFinder_PWM(void) {}; |
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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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bool get_reading(uint16_t &reading_cm); |
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
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return MAV_DISTANCE_SENSOR_UNKNOWN; |
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} |
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private: |
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int8_t last_pin; // last pin used for reading pwm (used to recognise change in pin assignment) |
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uint32_t last_reading_ms; // system time of last read (used for health reporting) |
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// the following three members are updated by the interrupt handler |
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uint32_t irq_value_us; // some of calculated pwm values (irq copy) |
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uint16_t irq_sample_count; // number of pwm values in irq_value_us (irq copy) |
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uint32_t irq_pulse_start_us; // system time of start of pulse |
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void irq_handler(uint8_t pin, bool pin_high, uint32_t timestamp_us); |
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void check_pin(); |
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};
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