mirror of
https://github.com/ArduPilot/ardupilot
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48 lines
935 B
C++
48 lines
935 B
C++
/*
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* AP_IRLock_I2C.h
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*
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*/
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#pragma once
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#include "AP_IRLock_config.h"
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#if AP_IRLOCK_I2C_ENABLED
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#include "AP_IRLock.h"
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#include <AP_HAL/AP_HAL.h>
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class AP_IRLock_I2C : public AP_IRLock
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{
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public:
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// init - initialize sensor library
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void init(int8_t bus) override;
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// retrieve latest sensor data - returns true if new data is available
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bool update() override;
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private:
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AP_HAL::OwnPtr<AP_HAL::Device> dev;
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struct PACKED frame {
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uint16_t checksum;
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uint16_t signature;
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uint16_t pixel_x;
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uint16_t pixel_y;
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uint16_t pixel_size_x;
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uint16_t pixel_size_y;
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};
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bool timer(void);
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bool sync_frame_start(void);
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bool read_block(struct frame &irframe);
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void read_frames(void);
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void pixel_to_1M_plane(float pix_x, float pix_y, float &ret_x, float &ret_y);
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HAL_Semaphore sem;
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uint32_t _last_read_ms;
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};
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#endif // AP_IRLOCK_I2C_ENABLED
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