51 lines
1.3 KiB
C
51 lines
1.3 KiB
C
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#pragma once
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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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#include <AP_HAL/I2CDevice.h>
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#define TOFSENSEP_I2C_DEFAULT_ADDR 0x08
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#define TOFSENSEP_I2C_COMMAND_TAKE_RANGE_READING 0x24
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class AP_RangeFinder_TOFSenseF_I2C : 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::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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// update state
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void update(void) override;
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protected:
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_LASER;
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}
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private:
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// constructor
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AP_RangeFinder_TOFSenseF_I2C(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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bool _init(void);
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void _timer(void);
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uint16_t distance;
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bool new_distance;
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// start a reading
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bool start_reading(void);
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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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#endif // AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
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