mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.9 KiB
C++
57 lines
1.9 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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/* Connection diagram
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*
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* ------------------------------------------------------------------------------------
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* | J2-1(LED) J2-2(5V) J2-3(Enable) J2-4(Ref Clk) J2-5(GND) J2-6(GND) |
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* | |
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* | |
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* | J1-3(I2C Clk) J1-2(I2C Data) J1-1(GND) |
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* ------------------------------------------------------------------------------------
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*/
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class AP_RangeFinder_PulsedLightLRF : 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(uint8_t bus,
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RangeFinder::RangeFinder_State &_state,
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RangeFinder::RangeFinder_Type rftype);
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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_PulsedLightLRF(uint8_t bus,
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RangeFinder::RangeFinder_State &_state,
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RangeFinder::RangeFinder_Type rftype);
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// start a reading
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bool init(void);
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void timer(void);
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bool lidar_transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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uint8_t sw_version;
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uint8_t hw_version;
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uint8_t check_reg_counter;
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bool v2_hardware;
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uint16_t last_distance_cm;
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RangeFinder::RangeFinder_Type rftype;
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enum { PHASE_MEASURE, PHASE_COLLECT } phase;
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};
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