mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-28 18:53:57 -04:00
63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
#pragma once
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/*
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Simulator for the TeraRangerI2C rangefinder
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter --speedup=1
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param set RNGFND1_TYPE 14 # TRI2C
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param ftp
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param set RNGFND1_ADDR 49
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graph RANGEFINDER.distance
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graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
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reboot
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arm throttle
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rc 3 1600
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*/
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#include "SIM_config.h"
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#if AP_SIM_TERARANGERI2C_ENABLED
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#include "SIM_I2CDevice.h"
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namespace SITL {
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class TeraRangerI2CDevReg : public I2CRegEnum {
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public:
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// static constexpr uint8_t TRIGGER_READING = 0x00;
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static constexpr uint8_t WHO_AM_I = 0x01;
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static constexpr uint8_t CHANGE_BASE_ADDR = 0xA2;
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};
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class TeraRangerI2C : public I2CDevice, public I2CRegisters_8Bit
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{
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public:
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void init() override {
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// add_register("TRIGGER_READING", TeraRangerI2CDevReg::TRIGGER_READING, I2CRegisters::RegMode::WRONLY);
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add_register("WHO_AM_I", TeraRangerI2CDevReg::WHO_AM_I, I2CRegisters::RegMode::RDONLY);
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add_register("CHANGE_BASE_ADDR", TeraRangerI2CDevReg::CHANGE_BASE_ADDR, I2CRegisters::RegMode::WRONLY);
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set_register(TeraRangerI2CDevReg::WHO_AM_I, (uint8_t)0xA1);
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}
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void update(const class Aircraft &aircraft) override {
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// free running
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rangefinder_range = aircraft.rangefinder_range();
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}
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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private:
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float rangefinder_range;
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uint32_t reading_start_us;
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};
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} // namespace SITL
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#endif // AP_SIM_TERARANGERI2C_ENABLED
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