Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RangeFinder_config.h"
       4             : 
       5             : #if AP_RANGEFINDER_GYUS42V2_ENABLED
       6             : 
       7             : #include "AP_RangeFinder.h"
       8             : #include "AP_RangeFinder_Backend_Serial.h"
       9             : 
      10             : class AP_RangeFinder_GYUS42v2 : public AP_RangeFinder_Backend_Serial
      11             : {
      12             : 
      13             : public:
      14             : 
      15           1 :     static AP_RangeFinder_Backend_Serial *create(
      16             :         RangeFinder::RangeFinder_State &_state,
      17             :         AP_RangeFinder_Params &_params) {
      18           1 :         return NEW_NOTHROW AP_RangeFinder_GYUS42v2(_state, _params);
      19             :     }
      20             : 
      21             : protected:
      22             : 
      23         338 :     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
      24         338 :         return MAV_DISTANCE_SENSOR_ULTRASOUND;
      25             :     }
      26             : 
      27           1 :     uint32_t initial_baudrate(uint8_t serial_instance) const override {
      28           1 :         return 9600;
      29             :     }
      30             : 
      31             : private:
      32             : 
      33             :     using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
      34             : 
      35             :     // get a reading
      36             :     bool get_reading(float &reading_m) override;
      37             : 
      38             :     // find signature byte in buffer starting at start, moving that
      39             :     // byte and following bytes to start of buffer.
      40             :     bool find_signature_in_buffer(uint8_t start);
      41             : 
      42             :     uint8_t buffer[7];
      43             :     uint8_t buffer_used;
      44             : };
      45             : 
      46             : #endif  // AP_RANGEFINDER_GYUS42V2_ENABLED