mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.6 KiB
C++
49 lines
1.6 KiB
C++
#pragma once
|
|
|
|
#include "RangeFinder.h"
|
|
#include "RangeFinder_Backend.h"
|
|
#include <AP_HAL/I2CDevice.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) |
|
|
* ------------------------------------------------------------------------------------
|
|
*/
|
|
|
|
class AP_RangeFinder_PulsedLightLRF : public AP_RangeFinder_Backend
|
|
{
|
|
|
|
public:
|
|
// static detection function
|
|
static AP_RangeFinder_Backend *detect(uint8_t bus, RangeFinder &ranger, uint8_t instance,
|
|
RangeFinder::RangeFinder_State &_state);
|
|
|
|
// update state
|
|
void update(void) override {}
|
|
|
|
|
|
private:
|
|
// constructor
|
|
AP_RangeFinder_PulsedLightLRF(uint8_t bus, RangeFinder &ranger, uint8_t instance,
|
|
RangeFinder::RangeFinder_State &_state);
|
|
|
|
// start a reading
|
|
bool init(void);
|
|
void timer(void);
|
|
bool lidar_transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
|
|
|
|
uint8_t sw_version;
|
|
uint8_t hw_version;
|
|
uint8_t check_reg_counter;
|
|
bool v2_hardware;
|
|
uint16_t last_distance_cm;
|
|
|
|
enum { PHASE_MEASURE, PHASE_COLLECT } phase;
|
|
};
|