mirror of https://github.com/ArduPilot/ardupilot
137 lines
4.3 KiB
C++
137 lines
4.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __RANGEFINDER_H__
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#define __RANGEFINDER_H__
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#include <AP_Common.h>
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#include <AP_HAL.h>
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#include <AP_Param.h>
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// Maximum number of range finder instances available on this platform
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#define RANGEFINDER_MAX_INSTANCES 2
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class AP_RangeFinder_Backend;
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class RangeFinder
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{
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public:
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RangeFinder(void) :
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num_instances(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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// RangeFinder driver types
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enum RangeFinder_Type {
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RangeFinder_TYPE_NONE = 0,
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RangeFinder_TYPE_AUTO = 1,
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RangeFinder_TYPE_ANALOG = 2,
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RangeFinder_TYPE_MBI2C = 3,
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RangeFinder_TYPE_PLI2C = 4,
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RangeFinder_TYPE_PX4 = 5
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};
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enum RangeFinder_Function {
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FUNCTION_LINEAR = 0,
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FUNCTION_INVERTED = 1,
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FUNCTION_HYPERBOLA = 2
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};
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// The RangeFinder_State structure is filled in by the backend driver
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struct RangeFinder_State {
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uint8_t instance; // the instance number of this RangeFinder
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uint16_t distance_cm; // distance: in cm
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uint16_t voltage_mv; // voltage in millivolts,
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// if applicable, otherwise 0
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bool healthy; // sensor is communicating correctly
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};
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// parameters for each instance
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AP_Int8 _type[RANGEFINDER_MAX_INSTANCES];
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AP_Int8 _pin[RANGEFINDER_MAX_INSTANCES];
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AP_Int8 _ratiometric[RANGEFINDER_MAX_INSTANCES];
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AP_Int8 _stop_pin[RANGEFINDER_MAX_INSTANCES];
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AP_Int16 _settle_time_ms[RANGEFINDER_MAX_INSTANCES];
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AP_Float _scaling[RANGEFINDER_MAX_INSTANCES];
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AP_Float _offset[RANGEFINDER_MAX_INSTANCES];
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AP_Int8 _function[RANGEFINDER_MAX_INSTANCES];
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AP_Int16 _min_distance_cm[RANGEFINDER_MAX_INSTANCES];
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AP_Int16 _max_distance_cm[RANGEFINDER_MAX_INSTANCES];
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static const struct AP_Param::GroupInfo var_info[];
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// Return the number of range finder instances
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uint8_t num_sensors(void) const {
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return num_instances;
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}
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// detect and initialise any available rangefinders
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void init(void);
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// update state of all rangefinders. Should be called at around
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// 10Hz from main loop
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void update(void);
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#define _RangeFinder_STATE(instance) state[instance]
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uint16_t distance_cm(uint8_t instance) const {
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return _RangeFinder_STATE(instance).distance_cm;
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}
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uint16_t distance_cm() const {
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return distance_cm(primary_instance);
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}
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uint16_t voltage_mv(uint8_t instance) const {
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return _RangeFinder_STATE(instance).voltage_mv;
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}
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uint16_t voltage_mv() const {
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return voltage_mv(primary_instance);
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}
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int16_t max_distance_cm(uint8_t instance) const {
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return _max_distance_cm[instance];
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}
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int16_t max_distance_cm() const {
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return max_distance_cm(primary_instance);
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}
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int16_t min_distance_cm(uint8_t instance) const {
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return _min_distance_cm[instance];
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}
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int16_t min_distance_cm() const {
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return min_distance_cm(primary_instance);
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}
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bool healthy(uint8_t instance) const {
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return instance < num_instances && _RangeFinder_STATE(instance).healthy;
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}
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bool healthy() const {
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return healthy(primary_instance);
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}
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private:
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RangeFinder_State state[RANGEFINDER_MAX_INSTANCES];
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AP_RangeFinder_Backend *drivers[RANGEFINDER_MAX_INSTANCES];
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uint8_t primary_instance:2;
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uint8_t num_instances:2;
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void detect_instance(uint8_t instance);
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void update_instance(uint8_t instance);
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};
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#endif // __RANGEFINDER_H__
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