src/main/drivers/rangefinder/rangefinder.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "common/time.h"
  21 #include "drivers/io.h"
  22 #include "drivers/bus.h"
  23
  24 #define RANGEFINDER_OUT_OF_RANGE        (-1)
  25 #define RANGEFINDER_HARDWARE_FAILURE    (-2)
  26 #define RANGEFINDER_NO_NEW_DATA         (-3)
  27
  28 struct rangefinderDev_s;
  29
  30 typedef void (*rangefinderOpInitFuncPtr)(struct rangefinderDev_s * dev);
  31 typedef void (*rangefinderOpStartFuncPtr)(struct rangefinderDev_s * dev);
  32 typedef int32_t (*rangefinderOpReadFuncPtr)(struct rangefinderDev_s * dev);
  33
  34 typedef struct rangefinderDev_s {
  35     busDevice_t * busDev;           // Device on a bus (if applicable)
  36
  37     timeMs_t delayMs;
  38     int16_t maxRangeCm;
  39
  40     // these are full detection cone angles, maximum tilt is half of this
  41     int16_t detectionConeDeciDegrees; // detection cone angle as in device spec
  42     int16_t detectionConeExtendedDeciDegrees; // device spec is conservative, in practice have slightly larger detection cone
  43
  44     // function pointers
  45     rangefinderOpInitFuncPtr init;
  46     rangefinderOpStartFuncPtr update;
  47     rangefinderOpReadFuncPtr read;
  48 } rangefinderDev_t;