ardupilot/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h

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#pragma once
#include "AP_Proximity.h"
#include "AP_Proximity_Backend.h"
#define PROXIMITY_TRTOWER_TIMEOUT_MS 300 // requests timeout after 0.3 seconds
class AP_Proximity_TeraRangerTower : public AP_Proximity_Backend
{
public:
// constructor
AP_Proximity_TeraRangerTower(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
// 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
bool read_sensor_data();
void update_sector_data(int16_t angle_deg, uint16_t distance_cm);
uint16_t process_distance(uint8_t buf1, uint8_t buf2);
// reply related variables
AP_HAL::UARTDriver *uart = nullptr;
uint8_t buffer[20]; // 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
};