mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.5 KiB
C++
83 lines
2.5 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_VL53L0X : 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, 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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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_VL53L0X(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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bool init();
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void timer();
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// check sensor ID
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bool check_id(void);
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// get a reading
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bool get_reading(uint16_t &reading_cm);
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
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uint8_t read_register(uint8_t reg);
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uint16_t read_register16(uint8_t reg);
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void write_register(uint8_t reg, uint8_t value);
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void write_register16(uint8_t reg, uint16_t value);
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struct SequenceStepEnables {
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bool tcc:1, msrc:1, dss:1, pre_range:1, final_range:1;
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};
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struct SequenceStepTimeouts {
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uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
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uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
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uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
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};
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struct RegData {
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uint8_t reg;
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uint8_t value;
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};
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static const RegData tuning_data[];
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enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
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bool get_SPAD_info(uint8_t * count, bool *type_is_aperture);
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void getSequenceStepEnables(SequenceStepEnables * enables);
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uint32_t getMeasurementTimingBudget(void);
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void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
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uint8_t getVcselPulsePeriod(vcselPeriodType type);
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uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
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uint16_t decodeTimeout(uint16_t reg_val);
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bool setMeasurementTimingBudget(uint32_t budget_us);
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uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
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uint16_t encodeTimeout(uint16_t timeout_mclks);
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bool performSingleRefCalibration(uint8_t vhv_init_byte);
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void start_continuous(void);
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uint8_t stop_variable;
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uint32_t measurement_timing_budget_us;
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uint32_t start_ms;
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uint32_t sum_mm;
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uint32_t counter;
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};
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