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102 lines
3.4 KiB
C++
102 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file LidarLite.h
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* @author Johan Jansen <jnsn.johan@gmail.com>
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*
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* Generic interface driver for the PulsedLight Lidar-Lite range finders.
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*/
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#pragma once
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#include <drivers/device/device.h>
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#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
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#include <perf/perf_counter.h>
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using namespace time_literals;
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// Device limits
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static constexpr float LL40LS_MIN_DISTANCE{0.05f};
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static constexpr float LL40LS_MAX_DISTANCE{25.00f};
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static constexpr float LL40LS_MAX_DISTANCE_V2{35.00f};
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// Normal conversion wait time.
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static constexpr uint32_t LL40LS_CONVERSION_INTERVAL{50_ms};
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// Maximum time to wait for a conversion to complete.
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static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
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class LidarLite
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{
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public:
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LidarLite(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
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virtual ~LidarLite();
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virtual int init() = 0;
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virtual void start() = 0;
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virtual void stop() = 0;
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/**
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* @brief Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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/**
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* @brief print registers to console.
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*/
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virtual void print_registers() {};
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protected:
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uint32_t get_measure_interval() const { return _measure_interval; };
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virtual int collect() = 0;
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virtual int measure() = 0;
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virtual int reset_sensor() { return PX4_ERROR; };
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PX4Rangefinder _px4_rangefinder;
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perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "ll40ls: comms errors")};
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perf_counter_t _sample_interval_perf{perf_alloc(PC_ELAPSED, "ll40ls: interval")};
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perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "ll40ls: read")};
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perf_counter_t _sensor_resets{perf_alloc(PC_COUNT, "ll40ls: resets")};
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perf_counter_t _sensor_zero_resets{perf_alloc(PC_COUNT, "ll40ls: zero resets")};
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private:
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uint32_t _measure_interval{LL40LS_CONVERSION_INTERVAL};
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};
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