ardupilot/libraries/AP_IRLock/AP_IRLock_I2C.h

41 lines
810 B
C++

/*
* AP_IRLock_I2C.h
*
*/
#pragma once
#include "IRLock.h"
class AP_IRLock_I2C : public IRLock
{
public:
// init - initialize sensor library
void init(int8_t bus) override;
// retrieve latest sensor data - returns true if new data is available
bool update() override;
private:
AP_HAL::OwnPtr<AP_HAL::Device> dev;
struct PACKED frame {
uint16_t checksum;
uint16_t signature;
uint16_t pixel_x;
uint16_t pixel_y;
uint16_t pixel_size_x;
uint16_t pixel_size_y;
};
bool timer(void);
bool sync_frame_start(void);
bool read_block(struct frame &irframe);
void read_frames(void);
void pixel_to_1M_plane(float pix_x, float pix_y, float &ret_x, float &ret_y);
HAL_Semaphore sem;
uint32_t _last_read_ms;
};