sonar_i2c.h

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/*
 * Copyright (C) 2023 OpenUAS <noreply@openuas.org>
 *
 * This file is part of paparazzi.
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
 
#ifndef SONAR_I2C_H
#define SONAR_I2C_H
 
#include "stdbool.h"
#include "mcu_periph/i2c.h"
 
enum SonarI2CStatus {
  SONAR_I2C_REQ_DATA,
  SONAR_I2C_READ_DATA,
  SONAR_I2C_PARSE_DATA
};
 
struct SonarI2C {
  struct i2c_transaction trans;
  uint8_t addr;
  enum SonarI2CStatus status;
  uint16_t raw; 
  float distance; 
  bool update_agl; 
};
 
extern struct SonarI2C sonar_i2c;
 
extern void sonar_i2c_init(void);
extern void sonar_i2c_event(void);
extern void sonar_i2c_periodic(void);
extern void sonar_i2c_report(void);
 
#endif /* SONAR_I2C_H */