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Drivers: Add TeraRanger Evo 600Hz support (#9169)

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This commit is contained in:
Mateusz Sadowski
2018-04-04 06:28:53 +02:00
committed by Daniel Agar
parent 62700046eb
commit f0a8569c93
2 changed files with 23 additions and 8 deletions
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3
src/drivers/distance_sensor/teraranger/parameters.c
View File

@@ -41,6 +41,7 @@
* @value 0 Disabled
* @value 1 Autodetect
* @value 2 TROne
* @value 3 TREvo
* @value 3 TREvo60m
* @value 4 TREvo600Hz
*/
PARAM_DEFINE_INT32(SENS_EN_TRANGER, 0);

28
src/drivers/distance_sensor/teraranger/teraranger.cpp
View File

@@ -87,8 +87,10 @@
/* Device limits */
#define TRONE_MIN_DISTANCE (0.20f)
#define TRONE_MAX_DISTANCE (14.00f)
#define TREVO_MIN_DISTANCE (0.50f)
#define TREVO_MAX_DISTANCE (60.0f)
#define TREVO_60M_MIN_DISTANCE (0.50f)
#define TREVO_60M_MAX_DISTANCE (60.0f)
#define TREVO_600HZ_MIN_DISTANCE (0.75f)
#define TREVO_600HZ_MAX_DISTANCE (8.0f)
#define TERARANGER_CONVERSION_INTERVAL 50000 /* 50ms */
@@ -295,8 +297,8 @@ TERARANGER::init()
goto out;
} else {
_min_distance = TREVO_MIN_DISTANCE;
_max_distance = TREVO_MAX_DISTANCE;
_min_distance = TREVO_60M_MIN_DISTANCE;
_max_distance = TREVO_60M_MAX_DISTANCE;
}
} else {
@@ -317,7 +319,7 @@ TERARANGER::init()
_max_distance = TRONE_MAX_DISTANCE;
break;
case 3: /* TREvo */
case 3: /* TREvo60m */
set_device_address(TREVO_BASEADDR);
/* do I2C init (and probe) first */
@@ -325,8 +327,20 @@ TERARANGER::init()
goto out;
}
_min_distance = TREVO_MIN_DISTANCE;
_max_distance = TREVO_MAX_DISTANCE;
_min_distance = TREVO_60M_MIN_DISTANCE;
_max_distance = TREVO_60M_MAX_DISTANCE;
break;
case 4: /* TREvo600Hz */
set_device_address(TREVO_BASEADDR);
/* do I2C init (and probe) first */
if (I2C::init() != OK) {
goto out;
}
_min_distance = TREVO_600HZ_MIN_DISTANCE;
_max_distance = TREVO_600HZ_MAX_DISTANCE;
break;
default: