mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.2 KiB
C++
73 lines
2.2 KiB
C++
/*
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* Copyright (C) 2019 Lucas De Marchi <lucas.de.marchi@gmail.com>
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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#ifndef AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
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#define AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
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#endif
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#if AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
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#define TFMINIPLUS_ADDR_DEFAULT 0x10 // TFMini default device id
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#include <AP_HAL/utility/sparse-endian.h>
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#include <AP_HAL/I2CDevice.h>
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class AP_RangeFinder_Benewake_TFMiniPlus : 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(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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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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AP_RangeFinder_Benewake_TFMiniPlus(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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bool init();
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void timer();
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void process_raw_measure(le16_t distance_raw, le16_t strength_raw,
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uint16_t &output_distance_cm);
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bool check_checksum(uint8_t *arr, int pkt_len);
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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struct {
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uint32_t sum;
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uint32_t count;
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} accum;
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};
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#endif
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