mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.0 KiB
C++
68 lines
2.0 KiB
C++
#pragma once
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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_LWI2C_ENABLED
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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#include <AP_HAL/I2CDevice.h>
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#define NUM_SF20_DATA_STREAMS 1
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class AP_RangeFinder_LightWareI2C : 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(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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// update state
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void update(void) override;
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protected:
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override
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{
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return MAV_DISTANCE_SENSOR_LASER;
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}
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private:
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uint16_t sf20_stream_val[NUM_SF20_DATA_STREAMS];
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int currentStreamSequenceIndex = 0;
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// constructor
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AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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bool write_bytes(uint8_t *write_buf_u8, uint32_t len_u8);
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void sf20_disable_address_tagging();
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bool sf20_send_and_expect(const char* send, const char* expected_reply);
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bool sf20_set_lost_signal_confirmations();
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void sf20_get_version(const char* send_msg, const char *reply_prefix, char reply[5]);
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bool sf20_wait_on_reply(uint8_t *rx_two_bytes);
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bool init();
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bool legacy_init();
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bool sf20_init();
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void sf20_init_streamRecovery();
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void legacy_timer();
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void sf20_timer();
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// get a reading
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bool legacy_get_reading(float &reading_m);
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bool sf20_get_reading(float &reading_m);
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bool sf20_parse_stream(uint8_t *stream_buf,
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size_t *p_num_processed_chars,
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const char *string_identifier,
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uint16_t &val);
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void data_log(uint16_t *val);
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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};
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#endif // AP_RANGEFINDER_LWI2C_ENABLED
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