ardupilot/libraries/AP_Proximity/AP_Proximity_TeraRangerTowe...

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#pragma once
#include "AP_Proximity.h"
#if HAL_PROXIMITY_ENABLED
#include "AP_Proximity_Backend_Serial.h"
#define PROXIMITY_TRTOWER_TIMEOUT_MS 300 // requests timeout after 0.3 seconds
class AP_Proximity_TeraRangerTowerEvo : public AP_Proximity_Backend_Serial {
public:
using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
// update state
void update(void) override;
// get maximum and minimum distances (in meters) of sensor
float distance_max() const override;
float distance_min() const override;
private:
// check and process replies from sensor
void initialise_modes();
bool read_sensor_data();
void update_sector_data(int16_t angle_deg, uint16_t distance_cm);
void set_mode(const uint8_t *c, int length);
enum InitState {
InitState_Printout = 0,
InitState_Sequence,
InitState_Rate,
InitState_StreamStart,
InitState_Finished
};
// reply related variables
uint8_t buffer[21]; // buffer where to store data from serial
uint8_t buffer_count;
// request related variables
uint32_t _last_distance_received_ms; // system time of last distance measurement received from sensor
uint32_t _last_request_sent_ms; // system time of last command set
const uint16_t _mode_request_delay = 1000;
enum InitState _current_init_state = InitState_Printout;
// tower evo operating modes
const uint8_t BINARY_MODE[4] = {(uint8_t)0x00, (uint8_t)0x11, (uint8_t)0x02, (uint8_t)0x4C};
const uint8_t TOWER_MODE[4] = {(uint8_t)0x00, (uint8_t)0x31, (uint8_t)0x03, (uint8_t)0xE5};
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// const uint8_t SEQUENCE_MODE[4] = {(uint8_t)0x00, (uint8_t)0x31, (uint8_t)0x02, (uint8_t)0xE2};
const uint8_t ACTIVATE_STREAM[5] = {(uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x02, (uint8_t)0x01, (uint8_t)0xDF};
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// const uint8_t REFRESH_50_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x02, (uint8_t)0xC3};
const uint8_t REFRESH_100_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x03, (uint8_t)0xC4};
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// const uint8_t REFRESH_250_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x04, (uint8_t)0xD1};
// const uint8_t REFRESH_500_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x05, (uint8_t)0xD6};
// const uint8_t REFRESH_600_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x06, (uint8_t)0xDF};
};
#endif // HAL_PROXIMITY_ENABLED