mirror of https://github.com/ArduPilot/ardupilot
28 lines
751 B
C++
28 lines
751 B
C++
#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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#include <AP_HAL/I2CDevice.h>
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class AP_RangeFinder_LightWareI2C : public AP_RangeFinder_Backend
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{
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public:
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// static detection function
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static AP_RangeFinder_Backend *detect(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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// update state
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void update(void);
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private:
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// constructor
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AP_RangeFinder_LightWareI2C(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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void init();
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bool timer();
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// get a reading
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bool get_reading(uint16_t &reading_cm);
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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};
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