src/main/sensors/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 <stdint.h>
  21 #include "config/parameter_group.h"
  22 #include "drivers/rangefinder/rangefinder.h"
  23
  24 typedef enum {
  25     RANGEFINDER_NONE                = 0,
  26     RANGEFINDER_SRF10               = 1,
  27     RANGEFINDER_VL53L0X             = 2,
  28     RANGEFINDER_MSP                 = 3,
  29     RANGEFINDER_BENEWAKE            = 4,
  30     RANGEFINDER_VL53L1X             = 5,
  31     RANGEFINDER_US42                = 6,
  32     RANGEFINDER_TOF10102I2C         = 7,
  33     RANGEFINDER_FAKE                = 8,
  34     RANGEFINDER_TERARANGER_EVO      = 9,
  35     RANGEFINDER_USD1_V0             = 10,
  36     RANGEFINDER_NANORADAR           = 11,
  37 } rangefinderType_e;
  38
  39 typedef struct rangefinderConfig_s {
  40     uint8_t rangefinder_hardware;
  41     uint8_t use_median_filtering;
  42 } rangefinderConfig_t;
  43
  44 PG_DECLARE(rangefinderConfig_t, rangefinderConfig);
  45
  46 typedef struct rangefinder_s {
  47     rangefinderDev_t dev;
  48     float maxTiltCos;
  49     int32_t rawAltitude;
  50     int32_t calculatedAltitude;
  51     timeMs_t lastValidResponseTimeMs;
  52 } rangefinder_t;
  53
  54 extern rangefinder_t rangefinder;
  55
  56 bool rangefinderInit(void);
  57
  58 int32_t rangefinderGetLatestAltitude(void);
  59 int32_t rangefinderGetLatestRawAltitude(void);
  60
  61 timeDelta_t rangefinderUpdate(void);
  62 bool rangefinderProcess(float cosTiltAngle);
  63 bool rangefinderIsHealthy(void);