ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h

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#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
#include <AP_HAL/I2CDevice.h>
class AP_RangeFinder_LightWareI2C : public AP_RangeFinder_Backend
{
public:
// static detection function
static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
// update state
void update(void) override;
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_LASER;
}
private:
// constructor
AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
void init();
void timer();
// get a reading
bool get_reading(uint16_t &reading_cm);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};