Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2025 Shubham Jolapara <[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             :  * 
      18             :  * 
      19             :  * Benewake TFS20L I2C Rangefinder Driver
      20             :  * 
      21             :  * Range: 0.01m to 20m
      22             :  * Datasheet: https://altronics.cl/uploads/benewake/TFS20-L-User-Manual.pdf
      23             :  */
      24             : #pragma once
      25             : 
      26             : #include "AP_RangeFinder_config.h"
      27             : 
      28             : #if AP_RANGEFINDER_BENEWAKE_TFS20L_ENABLED
      29             : 
      30             : #include "AP_RangeFinder.h"
      31             : #include "AP_RangeFinder_Backend_I2C.h"
      32             : #define TFS20L_ADDR_DEFAULT              0x10        // TFS20L default device id
      33             : 
      34             : // Forward declaration
      35             : namespace AP_HAL {
      36             :     class I2CDevice;
      37             : }
      38             : 
      39             : class AP_RangeFinder_Benewake_TFS20L : public AP_RangeFinder_Backend_I2C
      40             : {
      41             : 
      42             : public:
      43             :     // static detection function
      44           1 :     static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
      45             :                                           AP_RangeFinder_Params &_params,
      46             :                                           AP_HAL::I2CDevice &dev) {
      47             :         // this will free the object if configuration fails:
      48           1 :         return configure(NEW_NOTHROW AP_RangeFinder_Benewake_TFS20L(_state, _params, dev));
      49             :     }
      50             : 
      51             :     // update state
      52             :     void update(void) override;
      53             : 
      54             : protected:
      55             : 
      56         335 :     virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
      57         335 :         return MAV_DISTANCE_SENSOR_LASER;
      58             :     }
      59             : 
      60             : private:
      61             :     using AP_RangeFinder_Backend_I2C::AP_RangeFinder_Backend_I2C;
      62             : 
      63             :     bool init() override;
      64             :     void timer();
      65             : 
      66             :     struct {
      67             :         uint32_t sum;
      68             :         uint32_t count;
      69             :         uint32_t out_of_range_count;
      70             :     } accum;
      71             : 
      72             : };
      73             : 
      74             : #endif