ardupilot/libraries/AP_Proximity/AP_Proximity_LD06.h

70 lines
2.2 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* ArduPilot device driver for Inno-Maker LD06 LiDAR
*
* ALL INFORMATION REGARDING PROTOCOL WAS DERIVED FROM LD06 DATASHEET:
*
* http://wiki.inno-maker.com/display/HOMEPAGE/LD06?preview=/6949506/6949511/LDROBOT_LD06_Development%20manual_v1.0_en.pdf
*
* Author: Adithya Patil, Georgia Institute of Technology
* Based on the SLAMTEC RPLiDAR code written by Steven Josefs, IAV GmbH
*
*/
#pragma once
#include "AP_Proximity_config.h"
#if AP_PROXIMITY_LD06_ENABLED
#include "AP_Proximity_Backend_Serial.h"
#define MESSAGE_LENGTH_LD06 47
// Minimum and maximum distance that the sensor can read in meters
#define MAX_READ_DISTANCE_LD06 12.0f
#define MIN_READ_DISTANCE_LD06 0.02f
class AP_Proximity_LD06 : public AP_Proximity_Backend_Serial
{
public:
using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
// Update the state of the sensor
void update(void) override;
// Get the max and min distances for the sensor being used
float distance_max() const override { return MAX_READ_DISTANCE_LD06; }
float distance_min() const override { return MIN_READ_DISTANCE_LD06; }
private:
// Get and parse the sensor data
void parse_response_data();
void get_readings();
// Store and keep track of the bytes being read from the sensor
uint8_t _response[MESSAGE_LENGTH_LD06];
bool _response_data;
uint16_t _byte_count;
// Store for error-tracking purposes
uint32_t _last_distance_received_ms;
// Boundary to store the measurements
AP_Proximity_Temp_Boundary _temp_boundary;
};
#endif // AP_PROXIMITY_LD06_ENABLED