src/main/sensors/rangefinder.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdint.h>
  24
  25 #include "drivers/rangefinder/rangefinder.h"
  26
  27 #include "pg/pg.h"
  28
  29 typedef enum {
  30     RANGEFINDER_NONE        = 0,
  31     RANGEFINDER_HCSR04      = 1,
  32     RANGEFINDER_TFMINI      = 2,
  33     RANGEFINDER_TF02        = 3,
  34     // Following sensors are to be ported from iNav
  35     RANGEFINDER_SRF10       = 4,
  36     RANGEFINDER_HCSR04I2C   = 5,
  37     RANGEFINDER_VL53L0X     = 6,
  38     RANGEFINDER_UIB         = 7,
  39 } rangefinderType_e;
  40
  41 typedef struct rangefinderConfig_s {
  42     uint8_t rangefinder_hardware;
  43 } rangefinderConfig_t;
  44
  45 PG_DECLARE(rangefinderConfig_t, rangefinderConfig);
  46
  47 typedef struct rangefinder_s {
  48     rangefinderDev_t dev;
  49     float maxTiltCos;
  50     int32_t rawAltitude;
  51     int32_t calculatedAltitude;
  52     timeMs_t lastValidResponseTimeMs;
  53
  54     bool snrThresholdReached;
  55     int32_t dynamicDistanceThreshold;
  56     int16_t snr;
  57 } rangefinder_t;
  58
  59 extern rangefinder_t rangefinder;
  60
  61 void rangefinderResetDynamicThreshold(void);
  62 bool rangefinderInit(void);
  63
  64 int32_t rangefinderGetLatestAltitude(void);
  65 int32_t rangefinderGetLatestRawAltitude(void);
  66
  67 void rangefinderUpdate(timeUs_t currentTimeUs);
  68 bool rangefinderProcess(float cosTiltAngle);
  69 bool rangefinderIsHealthy(void);