ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightL...

53 lines
1.8 KiB
C++

#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
#include <AP_HAL/I2CDevice.h>
/* Connection diagram
*
* ------------------------------------------------------------------------------------
* | J2-1(LED) J2-2(5V) J2-3(Enable) J2-4(Ref Clk) J2-5(GND) J2-6(GND) |
* | |
* | |
* | J1-3(I2C Clk) J1-2(I2C Data) J1-1(GND) |
* ------------------------------------------------------------------------------------
*/
// i2c address
#define AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR 0x62
// min and max distances
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MIN_DISTANCE 0
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MAX_DISTANCE 1400
// registers
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG 0x00
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG 0x8f // high byte of distance measurement
// command register values
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE 0x04 // Varies based on sensor revision, 0x04 is newest, 0x61 is older
class AP_RangeFinder_PulsedLightLRF : public AP_RangeFinder_Backend
{
public:
// static detection function
static AP_RangeFinder_Backend *detect(RangeFinder &ranger, uint8_t instance,
RangeFinder::RangeFinder_State &_state);
// update state
void update(void);
private:
// constructor
AP_RangeFinder_PulsedLightLRF(RangeFinder &ranger, uint8_t instance,
RangeFinder::RangeFinder_State &_state);
// start a reading
bool start_reading(void);
bool get_reading(uint16_t &reading_cm);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};