mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
#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_TeraRangerI2C : 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> i2c_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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return MAV_DISTANCE_SENSOR_LASER;
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}
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private:
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// constructor
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AP_RangeFinder_TeraRangerI2C(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev);
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bool measure(void);
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bool collect_raw(uint16_t &raw_distance);
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bool process_raw_measure(uint16_t raw_distance, 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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