42 lines
1.1 KiB
C
42 lines
1.1 KiB
C
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#pragma once
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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#include "AP_RangeFinder_Params.h"
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class AP_RangeFinder_HC_SR04 : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_HC_SR04(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
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// static detection function
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static bool detect(AP_RangeFinder_Params &_params);
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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_ULTRASOUND;
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}
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private:
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void check_pins();
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void check_echo_pin();
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void check_trigger_pin();
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void irq_handler(uint8_t pin, bool pin_high, uint32_t timestamp_us);
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int8_t echo_pin;
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int8_t trigger_pin;
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uint32_t last_reading_ms; // system time of last read (used for health reporting)
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// follow are modified by the IRQ handler:
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uint32_t pulse_start_us; // system time of start of timing pulse
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uint32_t irq_value_us; // last calculated pwm value (irq copy)
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uint32_t last_ping_ms;
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};
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