ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h

58 lines
1.3 KiB
C++

#pragma once
#include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#ifndef AP_RANGEFINDER_BBB_PRU_ENABLED
#define AP_RANGEFINDER_BBB_PRU_ENABLED ( \
AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI \
)
#endif
#if AP_RANGEFINDER_BBB_PRU_ENABLED
#define PRU0_CTRL_BASE 0x4a322000
#define PRU0_IRAM_BASE 0x4a334000
#define PRU0_IRAM_SIZE 0x2000
#define PRU0_DRAM_BASE 0x4a300000
#define PRU0_DRAM_SIZE 0x2000
struct range {
uint32_t distance;
uint32_t status;
};
class AP_RangeFinder_BBB_PRU : public AP_RangeFinder_Backend
{
public:
/*
Constructor:
The constructor also initialises the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
using AP_RangeFinder_Backend::AP_RangeFinder_Backend;
// static detection function
static bool detect();
// update state
void update(void) override;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_ULTRASOUND;
}
private:
};
#endif