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Add Benewake TFmini/TF02 support

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This commit is contained in:
jflyper 2017-12-16 15:09:58 +09:00
parent 03a4426fe1
commit a510091bf1
10 changed files with 334 additions and 6 deletions
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21
src/main/sensors/rangefinder.c
View file

@ -37,8 +37,9 @@
#include "drivers/io.h"
#include "drivers/time.h"
#include "drivers/rangefinder/rangefinder_hcsr04.h"
#include "drivers/rangefinder/rangefinder.h"
#include "drivers/rangefinder/rangefinder_hcsr04.h"
#include "drivers/rangefinder/rangefinder_lidartf.h"
#include "fc/config.h"
#include "fc/runtime_config.h"
@ -143,6 +144,24 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
#endif
break;
case RANGEFINDER_TFMINI:
#if defined(USE_RANGEFINDER_TF)
if (lidarTFminiDetect(dev)) {
rangefinderHardware = RANGEFINDER_TFMINI;
rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
}
#endif
break;
case RANGEFINDER_TF02:
#if defined(USE_RANGEFINDER_TF)
if (lidarTF02Detect(dev)) {
rangefinderHardware = RANGEFINDER_TF02;
rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
}
#endif
break;
case RANGEFINDER_NONE:
rangefinderHardware = RANGEFINDER_NONE;
break;

11
src/main/sensors/rangefinder.h
View file

@ -24,10 +24,13 @@
typedef enum {
RANGEFINDER_NONE = 0,
RANGEFINDER_HCSR04 = 1,
RANGEFINDER_SRF10 = 2,
RANGEFINDER_HCSR04I2C = 3,
RANGEFINDER_VL53L0X = 4,
RANGEFINDER_UIB = 5,
RANGEFINDER_TFMINI = 2,
RANGEFINDER_TF02 = 3,
// Following sensors are to be ported from iNav
RANGEFINDER_SRF10 = 4,
RANGEFINDER_HCSR04I2C = 5,
RANGEFINDER_VL53L0X = 6,
RANGEFINDER_UIB = 7,
} rangefinderType_e;
typedef struct rangefinderConfig_s {