mirror of https://github.com/ArduPilot/ardupilot
34 lines
835 B
C
34 lines
835 B
C
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#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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#include <AP_HAL/I2CDevice.h>
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class AP_RangeFinder_trone : public AP_RangeFinder_Backend
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{
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public:
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// static detection function
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static AP_RangeFinder_Backend *detect(uint8_t bus, RangeFinder &ranger, uint8_t instance,
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RangeFinder::RangeFinder_State &_state);
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// update state
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void update(void);
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private:
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// constructor
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AP_RangeFinder_trone(uint8_t bus, RangeFinder &ranger, uint8_t instance,
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RangeFinder::RangeFinder_State &_state);
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bool measure(void);
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bool collect(uint16_t &distance_cm);
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bool init(void);
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void timer(void);
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
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struct {
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uint32_t sum;
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uint32_t count;
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} accum;
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};
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