LidarLitePWM.h

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/**
 * @file LidarLitePWM.h
 * @author Johan Jansen <jnsn.johan@gmail.com>
 * @author Ban Siesta <bansiesta@gmail.com>
 *
 * Driver for the PulsedLight Lidar-Lite range finders connected via PWM.
 *
 * This driver accesses the pwm_input published by the pwm_input driver.
 */
#pragma once

#include "LidarLite.h"

#include <stdio.h>
#include <string.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_input.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/topics/pwm_input.h>

class LidarLitePWM : public LidarLite, public px4::ScheduledWorkItem
{
public:
    LidarLitePWM(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
    virtual ~LidarLitePWM();

    int init() override;
    void start() override;
    void stop() override;

    void Run() override;

protected:

    int collect() override;
    int measure() override;

private:

    int _pwmSub{-1};

    pwm_input_s _pwm{};
};