src/main/drivers/rangefinder/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 "common/time.h"
  24 #include "drivers/io_types.h"
  25
  26 #define RANGEFINDER_OUT_OF_RANGE        (-1)
  27 #define RANGEFINDER_HARDWARE_FAILURE    (-2)
  28 #define RANGEFINDER_NO_NEW_DATA         (-3)
  29
  30 typedef struct rangefinderHardwarePins_s {
  31     ioTag_t triggerTag;
  32     ioTag_t echoTag;
  33 } rangefinderHardwarePins_t;
  34
  35 struct rangefinderDev_s;
  36 typedef void (*rangefinderOpInitFuncPtr)(struct rangefinderDev_s * dev);
  37 typedef void (*rangefinderOpStartFuncPtr)(struct rangefinderDev_s * dev);
  38 typedef int32_t (*rangefinderOpReadFuncPtr)(struct rangefinderDev_s * dev);
  39
  40 typedef struct rangefinderDev_s {
  41     timeMs_t delayMs;
  42     int16_t maxRangeCm;
  43
  44     // these are full detection cone angles, maximum tilt is half of this
  45     int16_t detectionConeDeciDegrees; // detection cone angle as in device spec
  46     int16_t detectionConeExtendedDeciDegrees; // device spec is conservative, in practice have slightly larger detection cone
  47
  48     // function pointers
  49     rangefinderOpInitFuncPtr init;
  50     rangefinderOpStartFuncPtr update;
  51     rangefinderOpReadFuncPtr read;
  52 } rangefinderDev_t;
  53
  54 extern int16_t rangefinderMaxRangeCm;
  55 extern int16_t rangefinderMaxAltWithTiltCm;
  56 extern int16_t rangefinderCfAltCm;