ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h

37 lines
744 B
C++

#ifndef __AP_RANGEFINDER_PRU_H__
#define __AP_RANGEFINDER_PRU_H__
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
#define PRU0_CTRL_BASE 0x4a322000
#define PRU0_IRAM_BASE 0x4a334000
#define PRU0_IRAM_SIZE 0x2000
#define PRU0_DRAM_BASE 0x4a300000
#define PRU0_DRAM_SIZE 0x2000
struct range {
uint32_t distance;
uint32_t status;
};
class AP_RangeFinder_BBB_PRU : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_BBB_PRU(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
// static detection function
static bool detect(RangeFinder &ranger, uint8_t instance);
// update state
void update(void);
private:
};
#endif // __AP_RANGEFINDER_PRU_H__