Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RangeFinder_config.h"
       4             : 
       5             : #if AP_RANGEFINDER_LIGHTWARE_GRF_I2C_ENABLED
       6             : 
       7             : #include "AP_RangeFinder.h"
       8             : #include "AP_RangeFinder_Backend_I2C.h"
       9             : #include "AP_RangeFinder_LightWare_GRF_Common.h"
      10             : 
      11             : #define AP_RANGEFINDER_LIGHTWARE_GRF_I2C_DEFAULT_ADDR 0x66
      12             : 
      13             : class AP_RangeFinder_LightWare_GRF_I2C : public AP_RangeFinder_Backend_I2C,
      14             :                                          public AP_RangeFinder_LightWare_GRF_Common
      15             : {
      16             : public:
      17           3 :     static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
      18             :                                           AP_RangeFinder_Params &_params,
      19             :                                           class AP_HAL::I2CDevice &dev)
      20             :     {
      21           3 :         return configure(NEW_NOTHROW AP_RangeFinder_LightWare_GRF_I2C(_state, _params, dev));
      22             :     }
      23             : 
      24             :     static const struct AP_Param::GroupInfo var_info[];
      25             : 
      26             :     void update() override;
      27             : 
      28             : protected:
      29         336 :     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override
      30             :     {
      31         336 :         return MAV_DISTANCE_SENSOR_LASER;
      32             :     }
      33             : 
      34             : private:
      35             :     AP_RangeFinder_LightWare_GRF_I2C(RangeFinder::RangeFinder_State &_state,
      36             :                                      AP_RangeFinder_Params &_params,
      37             :                                      AP_HAL::I2CDevice &_dev);
      38             : 
      39             :     // Usual config steps
      40             :     enum class ConfigStep : uint8_t {
      41             :         WRITE_UPDATE_RATE,
      42             :         VERIFY_UPDATE_RATE,
      43             :         WRITE_DISTANCE_OUTPUT,
      44             :         VERIFY_DISTANCE_OUTPUT,
      45             :         DONE,
      46             :     };
      47             : 
      48             :     bool init() override;
      49             :     void timer();
      50             : 
      51             :     // Write/read a register on the sensor.
      52             :     bool write_command(MessageID msgid, const uint8_t *payload, uint16_t payload_len);
      53             :     bool read_payload(MessageID msgid, uint8_t *payload_buf, uint16_t payload_len);
      54             : 
      55             :     // Apply one step of the configuration.
      56             :     void run_config_step();
      57             : 
      58             :     // Distance readings collected by timer() between update() calls; update()
      59             :     // averages them, publishes to state.distance_m, and resets the counters.
      60             :     struct {
      61             :         float sum_m;
      62             :         uint16_t count;
      63             :     } _accum;
      64             : 
      65             :     // config runs from the timer callback so init() stays quick.
      66             :     ConfigStep _config_step;
      67             :     uint8_t    _config_retry;
      68             : };
      69             : 
      70             : #endif  // AP_RANGEFINDER_LIGHTWARE_GRF_I2C_ENABLED