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sonar.h
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sonar.h
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "drivers/sonar_hcsr04.h"
#include "drivers/rangefinder.h"
#include "sensors/battery.h"
typedef enum {
SONAR_NONE = 0,
SONAR_HCSR04,
SONAR_SRF10
} sonarHardwareType_e;
typedef enum {
SONAR_HCSR04_PINS_RC,
SONAR_HCSR04_PINS_PWM,
} sonarHCSR04Pins_e;
struct sonarRange_s;
typedef void (*sonarInitFunctionPtr)(struct sonarRange_s *sonarRange);
typedef void (*sonarUpdateFunctionPtr)(void);
typedef int32_t (*sonarReadFunctionPtr)(void);
typedef struct sonarFunctionPointers_s {
sonarInitFunctionPtr init;
sonarUpdateFunctionPtr update;
sonarReadFunctionPtr read;
} sonarFunctionPointers_t;
const sonarHcsr04Hardware_t *sonarGetHardwareConfiguration(currentSensor_e currentSensor);
int32_t sonarCalculateAltitude(int32_t sonarDistance, float cosTiltAngle);
int32_t sonarGetLatestAltitude(void);
void sonarInit(void);
void sonarUpdate(void);
int32_t sonarRead(void);