mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.2 KiB
C++
44 lines
1.2 KiB
C++
#pragma once
|
|
|
|
#include "AP_RangeFinder.h"
|
|
#include "AP_RangeFinder_Backend.h"
|
|
#include <AP_HAL/I2CDevice.h>
|
|
|
|
#define AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR 0x70
|
|
#define AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING 0x51
|
|
|
|
class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend
|
|
{
|
|
public:
|
|
// static detection function
|
|
static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
|
|
AP_RangeFinder_Params &_params,
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
|
|
|
|
// update state
|
|
void update(void) override;
|
|
|
|
protected:
|
|
|
|
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
|
|
return MAV_DISTANCE_SENSOR_ULTRASOUND;
|
|
}
|
|
|
|
private:
|
|
// constructor
|
|
AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
|
|
AP_RangeFinder_Params &_params,
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
|
|
|
|
bool _init(void);
|
|
void _timer(void);
|
|
|
|
uint16_t distance;
|
|
bool new_distance;
|
|
|
|
// start a reading
|
|
bool start_reading(void);
|
|
bool get_reading(uint16_t &reading_cm);
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
|
|
};
|