ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h

41 lines
718 B
C++

#pragma once
#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::RangeFinder_State &_state);
// static detection function
static bool detect();
// update state
void update(void);
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_ULTRASOUND;
}
private:
};