/home/travis/build/lis-epfl/MAVRIC_Library/drivers/sonar_i2cxl.hpp

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/*******************************************************************************
 * \file sonar_i2cxl.h
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Driver for the sonar module using i2C communication protocol
 *
 ******************************************************************************/


#ifndef I2CXL_SONAR_HPP_
#define I2CXL_SONAR_HPP_

#include <cstdint>

#include "drivers/sonar.hpp"
#include "hal/common/i2c.hpp"


typedef struct
{
    uint8_t             i2c_address;        
    float               min_distance;       
    float               max_distance;       
    std::array<float, 3>    orientation_bf;     
} sonar_i2cxl_conf_t;


static inline sonar_i2cxl_conf_t sonar_i2cxl_default_config();


class Sonar_i2cxl: public Sonar
{
public:
    Sonar_i2cxl(I2c& i2c, sonar_i2cxl_conf_t config = sonar_i2cxl_default_config());


    bool init(void);


    bool update(void);


    const float& last_update_us(void) const;


    const std::array<float, 3>& orientation_bf(void) const;


    const float& distance(void) const;


    const float& velocity(void) const;


    const bool& healthy(void) const;


private:
    I2c&                i2c_;                   

    sonar_i2cxl_conf_t  config_;                
    float               distance_;              
    float               velocity_;              
    bool                healthy_;               
    float               last_update_us_;        
    float               last_distances_[5];     


    bool send_range_command(void);


    bool get_last_measure(void);


    float median_filter_n(float *in, int n);
};


bool sonar_i2cxl_update(Sonar_i2cxl* sonar);


static inline sonar_i2cxl_conf_t sonar_i2cxl_default_config()
{
    sonar_i2cxl_conf_t conf = {};

    //using 7bits addressing instead of 8bits R/W format
    conf.i2c_address  = 0x70;

    // Correct range between 20cm and 7m, - safety
    conf.min_distance = 0.22f;
    conf.max_distance = 5.0f;

    // Default orientation is looking downwards (NED)
    conf.orientation_bf = std::array<float, 3> {{0.0f, 0.0f, 1.0f}};

    return conf;
}


#endif /* I2CXL_SONAR_H */