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Drivers: Add TeraRanger Evo 600Hz support #9169

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merged 3 commits into from
Apr 4, 2018
Merged

Drivers: Add TeraRanger Evo 600Hz support #9169

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1448d5f
Add TeraRanger Evo 600Hz distances
msadowski Mar 27, 2018
587e954
Fix formatting of teraranger.cpp
msadowski Mar 27, 2018
18b8c7f
Update TeraRanger Evo 600Hz min distance
msadowski Mar 27, 2018
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3 changes: 2 additions & 1 deletion src/drivers/distance_sensor/teraranger/parameters.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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 changes: 21 additions & 7 deletions src/drivers/distance_sensor/teraranger/teraranger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 */

Expand Down Expand Up @@ -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 {
Expand All @@ -317,16 +319,28 @@ 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 */
if (I2C::init() != OK) {
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:
Expand Down