mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.2 KiB
C++
44 lines
1.2 KiB
C++
#pragma once
|
|
|
|
#include "AP_RangeFinder.h"
|
|
#include "AP_RangeFinder_Backend.h"
|
|
#include "AP_RangeFinder_Params.h"
|
|
|
|
class AP_RangeFinder_HC_SR04 : public AP_RangeFinder_Backend
|
|
{
|
|
public:
|
|
// constructor
|
|
AP_RangeFinder_HC_SR04(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
|
|
|
|
// static detection function
|
|
static bool detect(AP_RangeFinder_Params &_params);
|
|
|
|
// update state
|
|
void update(void) override;
|
|
|
|
protected:
|
|
|
|
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
|
|
return MAV_DISTANCE_SENSOR_ULTRASOUND;
|
|
}
|
|
|
|
private:
|
|
|
|
void check_pins();
|
|
void check_echo_pin();
|
|
void check_trigger_pin();
|
|
void irq_handler(uint8_t pin, bool pin_high, uint32_t timestamp_us);
|
|
|
|
int8_t echo_pin;
|
|
int8_t trigger_pin;
|
|
uint32_t last_reading_ms; // system time of last read (used for health reporting)
|
|
uint32_t last_distance_cm; // last distance reported (used to prevent glitches in measurement)
|
|
uint8_t glitch_count; // glitch counter
|
|
|
|
// follow are modified by the IRQ handler:
|
|
uint32_t pulse_start_us; // system time of start of timing pulse
|
|
uint32_t irq_value_us; // last calculated pwm value (irq copy)
|
|
|
|
uint32_t last_ping_ms;
|
|
};
|