ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h

83 lines
2.5 KiB
C++

#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
#include <AP_HAL/I2CDevice.h>
class AP_RangeFinder_VL53L0X : 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:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_LASER;
}
private:
// constructor
AP_RangeFinder_VL53L0X(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
bool init();
void timer();
// check sensor ID
bool check_id(void);
// get a reading
bool get_reading(uint16_t &reading_cm);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
uint8_t read_register(uint8_t reg);
uint16_t read_register16(uint8_t reg);
void write_register(uint8_t reg, uint8_t value);
void write_register16(uint8_t reg, uint16_t value);
struct SequenceStepEnables {
bool tcc:1, msrc:1, dss:1, pre_range:1, final_range:1;
};
struct SequenceStepTimeouts {
uint16_t pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;
uint16_t msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
uint32_t msrc_dss_tcc_us, pre_range_us, final_range_us;
};
struct RegData {
uint8_t reg;
uint8_t value;
};
static const RegData tuning_data[];
enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };
bool get_SPAD_info(uint8_t * count, bool *type_is_aperture);
void getSequenceStepEnables(SequenceStepEnables * enables);
uint32_t getMeasurementTimingBudget(void);
void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);
uint8_t getVcselPulsePeriod(vcselPeriodType type);
uint32_t timeoutMclksToMicroseconds(uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks);
uint16_t decodeTimeout(uint16_t reg_val);
bool setMeasurementTimingBudget(uint32_t budget_us);
uint32_t timeoutMicrosecondsToMclks(uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
uint16_t encodeTimeout(uint16_t timeout_mclks);
bool performSingleRefCalibration(uint8_t vhv_init_byte);
void start_continuous(void);
uint8_t stop_variable;
uint32_t measurement_timing_budget_us;
uint32_t start_ms;
uint32_t sum_mm;
uint32_t counter;
};