Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RangeFinder_config.h"
       4             : 
       5             : #if AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
       6             : 
       7             : #include "AP_RangeFinder.h"
       8             : #include "AP_RangeFinder_Backend_I2C.h"
       9             : 
      10             : #define AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR   0x70
      11             : #define AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING 0x51
      12             : 
      13             : class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend_I2C
      14             : {
      15             : public:
      16             :     // static detection function
      17           8 :     static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
      18             :                                           AP_RangeFinder_Params &_params,
      19             :                                           class AP_HAL::I2CDevice &dev) {
      20             :         // this will free the object if configuration fails:
      21           8 :         return configure(NEW_NOTHROW AP_RangeFinder_MaxsonarI2CXL(_state, _params, dev));
      22             :     }
      23             : 
      24             :     // update state
      25             :     void update(void) override;
      26             : 
      27             : protected:
      28             : 
      29        3902 :     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
      30        3902 :         return MAV_DISTANCE_SENSOR_ULTRASOUND;
      31             :     }
      32             : 
      33             : private:
      34             :     // constructor
      35             :     using AP_RangeFinder_Backend_I2C::AP_RangeFinder_Backend_I2C;
      36             : 
      37             :     bool init(void) override;
      38             :     void _timer(void);
      39             : 
      40             :     uint16_t distance;
      41             :     bool new_distance;
      42             :     
      43             :     // start a reading
      44             :     bool start_reading(void);
      45             :     bool get_reading(uint16_t &reading_cm);
      46             : };
      47             : 
      48             : #endif  // AP_RANGEFINDER_MAXSONARI2CXL_ENABLED