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.
64 lines
2.2 KiB
64 lines
2.2 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 |
|
* |
|
* ------------------------------------------------------------------------------------ |
|
* | J2-1(LED) J2-2(5V) J2-3(Enable) J2-4(Ref Clk) J2-5(GND) J2-6(GND) | |
|
* | | |
|
* | | |
|
* | J1-3(I2C Clk) J1-2(I2C Data) J1-1(GND) | |
|
* ------------------------------------------------------------------------------------ |
|
* |
|
* To connect to APM2.x: |
|
* APM I2C Clock <-> J1-3 |
|
* APM I2C Data <-> J1-2 |
|
* APM GND (from output Rail) <-> J1-1 J2-5 |
|
* APM 5V (from output Rail fed by ESC or BEC) <-> J2-2 |
|
* |
|
* APM2.x's I2C connector from outside edge: GND, Data, CLK, 3.3V |
|
*/ |
|
|
|
// i2c address |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR 0x42 |
|
|
|
// min and max distances |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MIN_DISTANCE 0 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MAX_DISTANCE 1400 |
|
|
|
// registers |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG 0x00 |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG 0x0f // high byte of distance measurement |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTLOW_REG 0x10 // low byte of distance measurement |
|
|
|
// command register values |
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE 0x04 // Varies based on sensor revision, 0x04 is newest, 0x61 is older |
|
|
|
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__
|
|
|