ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h

43 lines
1.2 KiB
C++

#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
#include <AP_HAL/I2CDevice.h>
class AP_RangeFinder_TeraRangerI2C : 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> i2c_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_TeraRangerI2C(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev);
bool measure(void);
bool collect_raw(uint16_t &raw_distance);
bool process_raw_measure(uint16_t raw_distance, uint16_t &distance_cm);
bool init(void);
void timer(void);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
struct {
uint32_t sum;
uint32_t count;
} accum;
};