mirror of https://github.com/ArduPilot/ardupilot
36 lines
1.1 KiB
C++
36 lines
1.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_RANGEFINDER_MAXSONARI2CXL_H__
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#define __AP_RANGEFINDER_MAXSONARI2CXL_H__
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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#define AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR 0x70
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#define AP_RANGEFINDER_MAXSONARI2CXL 4
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#define AP_RANGE_FINDER_MAXSONARI2CXL_SCALER 1.0
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#define AP_RANGE_FINDER_MAXSONARI2CXL_MIN_DISTANCE 20
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#define AP_RANGE_FINDER_MAXSONARI2CXL_MAX_DISTANCE 765
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#define AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING 0x51
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class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_MaxsonarI2CXL(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
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// static detection function
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static bool detect(RangeFinder &ranger, uint8_t instance);
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// update state
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void update(void);
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private:
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// start a reading
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static bool start_reading(void);
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static bool get_reading(uint16_t &reading_cm);
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};
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#endif // __AP_RANGEFINDER_MAXSONARI2CXL_H__
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