Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2019  Lucas De Marchi <[email protected]>
       3             :  *
       4             :  * This file is free software: you can redistribute it and/or modify it
       5             :  * under the terms of the GNU General Public License as published by the
       6             :  * Free Software Foundation, either version 3 of the License, or
       7             :  * (at your option) any later version.
       8             :  *
       9             :  * This file is distributed in the hope that it will be useful, but
      10             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
      11             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      12             :  * See the GNU General Public License for more details.
      13             :  *
      14             :  * You should have received a copy of the GNU General Public License along
      15             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      16             :  */
      17             : #pragma once
      18             : 
      19             : #include "AP_RangeFinder_config.h"
      20             : 
      21             : #if AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
      22             : 
      23             : #include "AP_RangeFinder.h"
      24             : #include "AP_RangeFinder_Backend_I2C.h"
      25             : 
      26             : #include <AP_HAL/utility/sparse-endian.h>
      27             : 
      28             : #define TFMINIPLUS_ADDR_DEFAULT              0x10        // TFMini default device id
      29             : 
      30             : class AP_RangeFinder_Benewake_TFMiniPlus : public AP_RangeFinder_Backend_I2C
      31             : {
      32             : 
      33             : public:
      34             :     // static detection function
      35           6 :     static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
      36             :                                           AP_RangeFinder_Params &_params,
      37             :                                           class AP_HAL::I2CDevice &dev) {
      38             :         // this will free the object if configuration fails:
      39           6 :         return configure(NEW_NOTHROW AP_RangeFinder_Benewake_TFMiniPlus(_state, _params, dev));
      40             :     }
      41             : 
      42             :     // update state
      43             :     void update(void) override;
      44             : 
      45             : protected:
      46             : 
      47         749 :     virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
      48         749 :         return MAV_DISTANCE_SENSOR_LASER;
      49             :     }
      50             : 
      51             : private:
      52             :     using AP_RangeFinder_Backend_I2C::AP_RangeFinder_Backend_I2C;
      53             : 
      54             :     bool init() override;
      55             :     void timer();
      56             : 
      57             :     void process_raw_measure(le16_t distance_raw, le16_t strength_raw,
      58             :                              uint16_t &output_distance_cm);
      59             : 
      60             :     bool check_checksum(uint8_t *arr, int pkt_len);
      61             : 
      62             :     // Track powered down status
      63             :     struct {
      64             :         bool commanded_power_down;
      65             :         bool current_power_down;
      66             :     } power_state;
      67             : 
      68             :     struct {
      69             :         uint32_t sum;
      70             :         uint32_t count;
      71             :     } accum;
      72             : };
      73             : 
      74             : #endif