mirror of https://github.com/ArduPilot/ardupilot
61 lines
2.1 KiB
C++
61 lines
2.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef __AP_RANGEFINDER_PULSEDLIGHTLRF_H__
|
|
#define __AP_RANGEFINDER_PULSEDLIGHTLRF_H__
|
|
|
|
#include "RangeFinder.h"
|
|
#include "RangeFinder_Backend.h"
|
|
|
|
/* Connection diagram
|
|
*
|
|
* ------------------------------------------------------------------------------------
|
|
* | J2-1(LED) J2-2(5V) J2-3(Enable) J2-4(Ref Clk) J2-5(GND) J2-6(GND) |
|
|
* | |
|
|
* | |
|
|
* | J1-3(I2C Clk) J1-2(I2C Data) J1-1(GND) |
|
|
* ------------------------------------------------------------------------------------
|
|
*
|
|
* To connect to APM2.x:
|
|
* APM I2C Clock <-> J1-3
|
|
* APM I2C Data <-> J1-2
|
|
* APM GND (from output Rail) <-> J1-1 J2-5
|
|
* APM 5V (from output Rail fed by ESC or BEC) <-> J2-2
|
|
*
|
|
* APM2.x's I2C connector from outside edge: GND, Data, CLK, 3.3V
|
|
*/
|
|
|
|
// i2c address
|
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR 0x62
|
|
|
|
// min and max distances
|
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MIN_DISTANCE 0
|
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MAX_DISTANCE 1400
|
|
|
|
// registers
|
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG 0x00
|
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG 0x8f // high byte of distance measurement
|
|
|
|
// command register values
|
|
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE 0x04 // Varies based on sensor revision, 0x04 is newest, 0x61 is older
|
|
|
|
class AP_RangeFinder_PulsedLightLRF : public AP_RangeFinder_Backend
|
|
{
|
|
|
|
public:
|
|
// constructor
|
|
AP_RangeFinder_PulsedLightLRF(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:
|
|
// start a reading
|
|
static bool start_reading(void);
|
|
static bool get_reading(uint16_t &reading_cm);
|
|
};
|
|
#endif // __AP_RANGEFINDER_PULSEDLIGHTLRF_H__
|