altb_pmic / Mbed 2 deprecated Test_optical_flow_PX4

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Dependencies:   mbed

TFmini.h@13:89b65bfe6dda, 2020-04-06 (annotated)

Committer:
pmic
Date:
Mon Apr 06 05:57:56 2020 +0000
Revision:
13:89b65bfe6dda
Parent:
5:d97332d7f812 
Change receiving driver and firmware. Data latency now 2.4 ms faster.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 5:d97332d7f812 1 #ifndef TFMINI_H
pmic 5:d97332d7f812 2 #define TFMINI_H
pmic 5:d97332d7f812 3
pmic 5:d97332d7f812 4 #include <mbed.h>
pmic 5:d97332d7f812 5
pmic 5:d97332d7f812 6 /**
pmic 5:d97332d7f812 7 * This is a device driver class for the TFmini LiDAR.
pmic 5:d97332d7f812 8 */
pmic 5:d97332d7f812 9 class TFmini
pmic 5:d97332d7f812 10 {
pmic 5:d97332d7f812 11 public:
pmic 5:d97332d7f812 12
pmic 5:d97332d7f812 13 TFmini(RawSerial& serial);
pmic 5:d97332d7f812 14
pmic 5:d97332d7f812 15 /** Return the distance to the nearest object, or -1.0 if not valid.
pmic 5:d97332d7f812 16 */
pmic 5:d97332d7f812 17 float operator()() {
pmic 5:d97332d7f812 18 return readDistance();
pmic 5:d97332d7f812 19 }
pmic 5:d97332d7f812 20
pmic 5:d97332d7f812 21 virtual ~TFmini();
pmic 5:d97332d7f812 22
pmic 5:d97332d7f812 23 float readDistance();
pmic 5:d97332d7f812 24 float readStrength();
pmic 5:d97332d7f812 25
pmic 5:d97332d7f812 26 private:
pmic 5:d97332d7f812 27
pmic 5:d97332d7f812 28 RawSerial& serial; // reference to serial interface for communication
pmic 5:d97332d7f812 29
pmic 5:d97332d7f812 30 int16_t dist; // actual distance measurements of LiDAR
pmic 5:d97332d7f812 31 int16_t strength; // signal strength of LiDAR
pmic 5:d97332d7f812 32 uint16_t checksum; // save check value
pmic 5:d97332d7f812 33
pmic 5:d97332d7f812 34 uint8_t uartData[9]; // buffer for seriel uart LiDar data
pmic 5:d97332d7f812 35 uint8_t cnt; // dataCounter
pmic 5:d97332d7f812 36
pmic 5:d97332d7f812 37 static const uint8_t HEADER = 0x59; //frame header of data package
pmic 5:d97332d7f812 38
pmic 5:d97332d7f812 39 void receive();
pmic 5:d97332d7f812 40
pmic 5:d97332d7f812 41 };
pmic 5:d97332d7f812 42
pmic 5:d97332d7f812 43 #endif