Line data    Source code

       1             : #pragma once
       2             : #include "AP_RangeFinder_config.h"
       3             : 
       4             : #if AP_RANGEFINDER_NRA24_CAN_DRIVER_ENABLED
       5             : #include "AP_RangeFinder_Backend_CAN.h"
       6             : 
       7             : class AP_RangeFinder_NRA24_CAN : public AP_RangeFinder_Backend_CAN {
       8             : public:
       9           0 :     AP_RangeFinder_NRA24_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
      10           0 :         AP_RangeFinder_Backend_CAN(_state, _params, AP_CAN::Protocol::RadarCAN, "nra24")
      11             :     {
      12           0 :     }
      13             : 
      14             :     void update(void) override;
      15             : 
      16             :     // handler for incoming frames
      17             :     bool handle_frame(AP_HAL::CANFrame &frame) override;
      18             : 
      19             :     static const struct AP_Param::GroupInfo var_info[];
      20             : 
      21             : protected:
      22             : 
      23           0 :     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
      24           0 :         return MAV_DISTANCE_SENSOR_RADAR;
      25             :     }
      26             : 
      27             : private:
      28             : 
      29           0 :     uint32_t get_radar_id(uint32_t id) const { return ((id & 0xF0U) >> 4U); }
      30             :     uint32_t last_heartbeat_ms; // last status message received from the sensor
      31             : };
      32             : 
      33             : #endif  // AP_RANGEFINDER_NRA24_CAN_DRIVER_ENABLED