ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CX...

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2013-05-29 20:51:11 -03:00
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_RangeFinder_MaxsonarI2CXL.cpp - Arduino Library for MaxBotix I2C XL sonar
* Code by Randy Mackay. DIYDrones.com
*
* datasheet: http://www.maxbotix.com/documents/I2CXL-MaxSonar-EZ_Datasheet.pdf
*
* Sensor should be connected to the I2C port
*
* Variables:
* bool healthy : indicates whether last communication with sensor was successful
*
* Methods:
* take_reading(): ask the sonar to take a new distance measurement
* read() : read last distance measured (in cm)
*
*/
// AVR LibC Includes
#include "AP_RangeFinder_MaxsonarI2CXL.h"
#include <AP_HAL.h>
extern const AP_HAL::HAL& hal;
// Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL( FilterInt16 *filter ) :
RangeFinder(NULL, filter),
healthy(true),
_addr(AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)
{
min_distance = AP_RANGE_FINDER_MAXSONARI2CXL_MIN_DISTANCE;
max_distance = AP_RANGE_FINDER_MAXSONARI2CXL_MAX_DISTANCE;
}
// Public Methods //////////////////////////////////////////////////////////////
// take_reading - ask sensor to make a range reading
bool AP_RangeFinder_MaxsonarI2CXL::take_reading()
{
// take range reading and read back results
uint8_t tosend[1] =
{ AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING };
if (hal.i2c->write(_addr, 1, tosend) != 0) {
healthy = false;
return false;
}else{
healthy = true;
return true;
}
}
// read - return last value measured by sensor
int16_t AP_RangeFinder_MaxsonarI2CXL::read()
{
uint8_t buff[2];
int16_t ret_value = 0;
// take range reading and read back results
if (hal.i2c->read(_addr, 2, buff) != 0) {
healthy = false;
}else{
// combine results into distance
ret_value = buff[0] << 8 | buff[1];
healthy = true;
}
// ensure distance is within min and max
ret_value = constrain_float(ret_value, min_distance, max_distance);
ret_value = _mode_filter->apply(ret_value);
return ret_value;
}