mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.6 KiB
C++
64 lines
1.6 KiB
C++
#pragma once
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#include "AP_RangeFinder_Backend.h"
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#include <AP_CANManager/AP_CANSensor.h>
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#ifndef AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
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#define AP_RANGEFINDER_BENEWAKE_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
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#endif
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#if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
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class Benewake_MultiCAN;
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class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend {
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public:
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friend class Benewake_MultiCAN;
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AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
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void update() override;
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// handler for incoming frames. Return true if consumed
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bool handle_frame(AP_HAL::CANFrame &frame);
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bool handle_frame_H30(AP_HAL::CANFrame &frame);
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static const struct AP_Param::GroupInfo var_info[];
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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_RADAR;
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}
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private:
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float _distance_sum_cm;
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uint32_t _distance_count;
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int32_t last_recv_id = -1;
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AP_Int32 snr_min;
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AP_Int32 receive_id;
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static Benewake_MultiCAN *multican;
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AP_RangeFinder_Benewake_CAN *next;
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};
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// a class to allow for multiple Benewake_CAN backends with one
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// CANSensor driver
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class Benewake_MultiCAN : public CANSensor {
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public:
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Benewake_MultiCAN() : CANSensor("Benewake") {
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register_driver(AP_CAN::Protocol::Benewake);
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}
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// handler for incoming frames
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void handle_frame(AP_HAL::CANFrame &frame) override;
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HAL_Semaphore sem;
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AP_RangeFinder_Benewake_CAN *drivers;
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};
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#endif // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
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