mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.1 KiB
C++
68 lines
2.1 KiB
C++
/*
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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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#pragma once
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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class AP_RangeFinder_PWM : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_PWM(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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float &_estimated_terrain_height);
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// destructor
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~AP_RangeFinder_PWM(void) {};
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// static detection function
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static bool detect();
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// update state
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void update(void) override;
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protected:
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bool get_reading(uint16_t &reading_cm);
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_UNKNOWN;
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}
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private:
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int8_t last_pin; // last pin used for reading pwm (used to recognise change in pin assignment)
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// the following three members are updated by the interrupt handler
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uint32_t irq_value_us; // some of calculated pwm values (irq copy)
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uint16_t irq_sample_count; // number of pwm values in irq_value_us (irq copy)
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uint32_t irq_pulse_start_us; // system time of start of pulse
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void irq_handler(uint8_t pin, bool pin_high, uint32_t timestamp_us);
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void check_pin();
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void check_stop_pin();
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void check_pins();
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uint8_t last_stop_pin = -1;
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float &estimated_terrain_height;
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// return true if we are beyond the power saving range
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bool out_of_range(void) const;
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bool was_out_of_range = -1; // this odd initialisation ensures we transition to new state
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};
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