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40 lines
815 B
40 lines
815 B
/* |
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* AP_IRLock_I2C.h |
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* |
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*/ |
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#pragma once |
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#include "IRLock.h" |
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class AP_IRLock_I2C : public IRLock |
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{ |
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public: |
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// init - initialize sensor library |
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void init(int8_t bus) override; |
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// retrieve latest sensor data - returns true if new data is available |
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bool update() override; |
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private: |
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AP_HAL::OwnPtr<AP_HAL::Device> dev; |
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struct PACKED frame { |
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uint16_t checksum; |
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uint16_t signature; |
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uint16_t pixel_x; |
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uint16_t pixel_y; |
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uint16_t pixel_size_x; |
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uint16_t pixel_size_y; |
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}; |
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bool timer(void); |
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bool sync_frame_start(void); |
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bool read_block(struct frame &irframe); |
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void read_frames(void); |
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void pixel_to_1M_plane(float pix_x, float pix_y, float &ret_x, float &ret_y); |
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AP_HAL::Semaphore *sem; |
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uint32_t _last_read_ms; |
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};
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