├── .github
└── workflows
│ └── Continuous-Integration.yml
├── LICENSE.md
├── README.md
├── examples
├── VL53L3CX_Sat_HelloWorld
│ └── VL53L3CX_Sat_HelloWorld.ino
└── VL53L3CX_Sat_HelloWorld_Interrupt
│ └── VL53L3CX_Sat_HelloWorld_Interrupt.ino
├── extras
└── codespell-ignore-words-list.txt
├── keywords.txt
├── library.properties
└── src
├── ComponentObject.h
├── RangeSensor.h
├── vl53lx_class.cpp
├── vl53lx_class.h
└── vl53lx_def.h
/.github/workflows/Continuous-Integration.yml:
--------------------------------------------------------------------------------
1 | name: VL53L3CX Continuous Integration
2 | on:
3 | push:
4 | branches:
5 | - main
6 | paths-ignore:
7 | - '*'
8 | - '**.md'
9 | - '**.txt'
10 | pull_request:
11 | paths-ignore:
12 | - '*'
13 | - '**.md'
14 | - '**.txt'
15 | jobs:
16 | astyle_check:
17 | runs-on: ubuntu-latest
18 | name: AStyle check
19 | steps:
20 | # First of all, clone the repo using the checkout action.
21 | - name: Checkout
22 | uses: actions/checkout@main
23 |
24 | - name: Astyle check
25 | id: Astyle
26 | uses: stm32duino/actions/astyle-check@main
27 |
28 | # Use the output from the `Astyle` step
29 | - name: Astyle Errors
30 | if: failure()
31 | run: |
32 | cat ${{ steps.Astyle.outputs.astyle-result }}
33 | exit 1
34 | codespell:
35 | name: Check for spelling errors
36 | runs-on: ubuntu-latest
37 | steps:
38 | - name: Checkout
39 | uses: actions/checkout@main
40 |
41 | # See: https://github.com/codespell-project/actions-codespell/blob/master/README.md
42 | - name: Spell check
43 | uses: codespell-project/actions-codespell@master
44 | with:
45 | check_filenames: true
46 | check_hidden: true
47 | # In the event of a false positive, add the word in all lower case to this file:
48 | ignore_words_file: ./extras/codespell-ignore-words-list.txt
49 | lib_build:
50 | runs-on: ubuntu-latest
51 | name: Library compilation
52 | steps:
53 | # First of all, clone the repo using the checkout action.
54 | - name: Checkout
55 | uses: actions/checkout@main
56 |
57 | - name: Compilation
58 | id: Compile
59 | uses: stm32duino/actions/compile-examples@main
60 | with:
61 | board-pattern: "NUCLEO_L476RG"
62 |
63 | # Use the output from the `Compile` step
64 | - name: Compilation Errors
65 | if: failure()
66 | run: |
67 | cat ${{ steps.Compile.outputs.compile-result }}
68 | exit 1
69 |
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/LICENSE.md:
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1 | COPYRIGHT(c) 2020 STMicroelectronics
2 |
3 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
4 |
5 | Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
6 | Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
7 | Neither the name of STMicroelectronics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
8 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
9 |
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/README.md:
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1 | # VL53L3CX
2 | Arduino library to support the VL53L3CX Time-of-Flight ranging sensor with advanced multi-object detection.
3 |
4 | ## API
5 |
6 | This sensor uses I2C to communicate. And I2C instance is required to access to the sensor.
7 | The APIs provide simple distance measure and multi-object detection in both polling and interrupt modes.
8 |
9 | ## Examples
10 |
11 | There are 2 examples with the VL53L3CX library.
12 |
13 | In order to use these examples you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires as explained below:
14 | - pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board
15 | - pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
16 | - pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
17 | - pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
18 | - pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
19 | - pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
20 | - pins 7, 8, 9 and 10 are not connected.
21 |
22 | * VL53L3CX_Sat_HelloWorld: This example code is to show how to get multi-object detection and proximity
23 | values of the VL53L3CX satellite sensor in polling mode.
24 |
25 | * VL53L3CX_Sat_HelloWorld_Interrupt: This example code is to show how to get multi-object detection and proximity
26 | values of the VL53L3CX satellite sensor in interrupt mode.
27 |
28 | ## Note
29 |
30 | The VL53L3CX is a fully integrated miniature module with a low power microcontroller with advanced digital firmware.
31 | Detection with full field of view (FoV) is up to 300 cm +. It works with many types of glass roofing materials.
32 | Xshutdown (reset) and stop GPIO are integrated to optimize remote operation.
33 |
34 | ## Documentation
35 |
36 | You can find the source files at
37 | https://github.com/stm32duino/VL53L3CX
38 |
39 | The VL53L3CX datasheet is available at
40 | https://www.st.com/content/st_com/en/products/imaging-and-photonics-solutions/proximity-sensors/vl53l3cx.html
41 |
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/examples/VL53L3CX_Sat_HelloWorld/VL53L3CX_Sat_HelloWorld.ino:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file VL53L3CX_Sat_HelloWorld.ino
4 | * @author SRA
5 | * @version V1.0.0
6 | * @date 30 July 2020
7 | * @brief Arduino test application for the STMicrolectronics VL53L3CX
8 | * proximity sensor satellite based on FlightSense.
9 | * This application makes use of C++ classes obtained from the C
10 | * components' drivers.
11 | ******************************************************************************
12 | * @attention
13 | *
14 | * © COPYRIGHT(c) 2020 STMicroelectronics
15 | *
16 | * Redistribution and use in source and binary forms, with or without modification,
17 | * are permitted provided that the following conditions are met:
18 | * 1. Redistributions of source code must retain the above copyright notice,
19 | * this list of conditions and the following disclaimer.
20 | * 2. Redistributions in binary form must reproduce the above copyright notice,
21 | * this list of conditions and the following disclaimer in the documentation
22 | * and/or other materials provided with the distribution.
23 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
24 | * may be used to endorse or promote products derived from this software
25 | * without specific prior written permission.
26 | *
27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
28 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
29 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
30 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
31 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
32 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
33 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
34 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
35 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
36 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 | *
38 | ******************************************************************************
39 | */
40 | /*
41 | * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
42 | * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board
43 | * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
44 | * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
45 | * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
46 | * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
47 | * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
48 | * pins 7, 8, 9 and 10 are not connected.
49 | */
50 | /* Includes ------------------------------------------------------------------*/
51 | #include
52 | #include
53 | #include
54 | #include
55 | #include
56 | #include
57 | #include
58 | #include
59 | #include
60 |
61 | #define DEV_I2C Wire
62 | #define SerialPort Serial
63 |
64 | #ifndef LED_BUILTIN
65 | #define LED_BUILTIN 13
66 | #endif
67 | #define LedPin LED_BUILTIN
68 |
69 | // Components.
70 | VL53LX sensor_vl53lx_sat(&DEV_I2C, A1);
71 |
72 |
73 | /* Setup ---------------------------------------------------------------------*/
74 |
75 | void setup()
76 | {
77 | // Led.
78 | pinMode(LedPin, OUTPUT);
79 |
80 | // Initialize serial for output.
81 | SerialPort.begin(115200);
82 | SerialPort.println("Starting...");
83 |
84 | // Initialize I2C bus.
85 | DEV_I2C.begin();
86 |
87 | // Configure VL53LX satellite component.
88 | sensor_vl53lx_sat.begin();
89 |
90 | // Switch off VL53LX satellite component.
91 | sensor_vl53lx_sat.VL53LX_Off();
92 |
93 | //Initialize VL53LX satellite component.
94 | sensor_vl53lx_sat.InitSensor(0x12);
95 |
96 | // Start Measurements
97 | sensor_vl53lx_sat.VL53LX_StartMeasurement();
98 | }
99 |
100 | void loop()
101 | {
102 | VL53LX_MultiRangingData_t MultiRangingData;
103 | VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
104 | uint8_t NewDataReady = 0;
105 | int no_of_object_found = 0, j;
106 | char report[64];
107 | int status;
108 |
109 | do
110 | {
111 | status = sensor_vl53lx_sat.VL53LX_GetMeasurementDataReady(&NewDataReady);
112 | } while (!NewDataReady);
113 |
114 | //Led on
115 | digitalWrite(LedPin, HIGH);
116 |
117 | if((!status)&&(NewDataReady!=0))
118 | {
119 | status = sensor_vl53lx_sat.VL53LX_GetMultiRangingData(pMultiRangingData);
120 | no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
121 | snprintf(report, sizeof(report), "VL53LX Satellite: Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
122 | SerialPort.print(report);
123 | for(j=0;j© COPYRIGHT(c) 2020 STMicroelectronics
15 | *
16 | * Redistribution and use in source and binary forms, with or without modification,
17 | * are permitted provided that the following conditions are met:
18 | * 1. Redistributions of source code must retain the above copyright notice,
19 | * this list of conditions and the following disclaimer.
20 | * 2. Redistributions in binary form must reproduce the above copyright notice,
21 | * this list of conditions and the following disclaimer in the documentation
22 | * and/or other materials provided with the distribution.
23 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
24 | * may be used to endorse or promote products derived from this software
25 | * without specific prior written permission.
26 | *
27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
28 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
29 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
30 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
31 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
32 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
33 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
34 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
35 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
36 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 | *
38 | ******************************************************************************
39 | */
40 |
41 |
42 | //On some boards like the Arduino Uno the pin used by the sensor to raise interrupts (A2)
43 | //can't be mapped as an interrupt pin. For this this reason this sketch will not work
44 | //unless some additional cabling is done and the interrupt pin is changed.
45 | /*
46 | * To use this sketch you need to connect the VL53L3CX satellite sensor directly to the Nucleo board with wires in this way:
47 | * pin 1 (Interrupt) of the VL53L3CX satellite connected to pin A2 of the Nucleo board
48 | * pin 2 (SCL_I) of the VL53L3CX satellite connected to pin D15 (SCL) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
49 | * pin 3 (XSDN_I) of the VL53L3CX satellite connected to pin A1 of the Nucleo board
50 | * pin 4 (SDA_I) of the VL53L3CX satellite connected to pin D14 (SDA) of the Nucleo board with a Pull-Up resistor of 4.7 KOhm
51 | * pin 5 (VDD) of the VL53L3CX satellite connected to 3V3 pin of the Nucleo board
52 | * pin 6 (GND) of the VL53L3CX satellite connected to GND of the Nucleo board
53 | * pins 7, 8, 9 and 10 are not connected.
54 | */
55 | /* Includes ------------------------------------------------------------------*/
56 | #include
57 | #include
58 | #include
59 | #include
60 | #include
61 | #include
62 | #include
63 | #include
64 | #include
65 |
66 | #define DEV_I2C Wire
67 | #define SerialPort Serial
68 |
69 | #ifndef LED_BUILTIN
70 | #define LED_BUILTIN 13
71 | #endif
72 | #define LedPin LED_BUILTIN
73 |
74 | #define interruptPin A2
75 |
76 | // Components.
77 | VL53LX sensor_vl53lx_sat(&DEV_I2C, A1);
78 |
79 | volatile int interruptCount=0;
80 |
81 | void measure()
82 | {
83 | interruptCount=1;
84 | }
85 |
86 | void setup()
87 | {
88 | VL53LX_Error status;
89 | // Led.
90 | pinMode(LedPin, OUTPUT);
91 | pinMode(interruptPin, INPUT_PULLUP);
92 | attachInterrupt(interruptPin, measure, FALLING);
93 |
94 | // Initialize serial for output.
95 | SerialPort.begin(115200);
96 | SerialPort.println("Starting...");
97 |
98 | // Initialize I2C bus.
99 | DEV_I2C.begin();
100 |
101 | // Configure VL53LX satellite component.
102 | sensor_vl53lx_sat.begin();
103 |
104 | // Switch off VL53LX satellite component.
105 | sensor_vl53lx_sat.VL53LX_Off();
106 |
107 | // Initialize VL53LX satellite component.
108 | status = sensor_vl53lx_sat.InitSensor(0x12);
109 | if(status)
110 | {
111 | SerialPort.println("Init sensor_vl53lx_sat failed...");
112 | }
113 |
114 | sensor_vl53lx_sat.VL53LX_StartMeasurement();
115 | }
116 |
117 | void loop()
118 | {
119 | VL53LX_MultiRangingData_t MultiRangingData;
120 | VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
121 | uint8_t NewDataReady = 0;
122 | int no_of_object_found = 0, j;
123 | char report[64];
124 | if (interruptCount)
125 | {
126 | int status;
127 |
128 | interruptCount=0;
129 | // Led blinking.
130 | digitalWrite(LedPin, HIGH);
131 |
132 | status = sensor_vl53lx_sat.VL53LX_GetMeasurementDataReady(&NewDataReady);
133 | if((!status)&&(NewDataReady!=0))
134 | {
135 | status = sensor_vl53lx_sat.VL53LX_GetMultiRangingData(pMultiRangingData);
136 | no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
137 | snprintf(report, sizeof(report), "Count=%d, #Objs=%1d ", pMultiRangingData->StreamCount, no_of_object_found);
138 | SerialPort.print(report);
139 | for(j=0;j© COPYRIGHT(c) 2015 STMicroelectronics
13 | *
14 | * Redistribution and use in source and binary forms, with or without modification,
15 | * are permitted provided that the following conditions are met:
16 | * 1. Redistributions of source code must retain the above copyright notice,
17 | * this list of conditions and the following disclaimer.
18 | * 2. Redistributions in binary form must reproduce the above copyright notice,
19 | * this list of conditions and the following disclaimer in the documentation
20 | * and/or other materials provided with the distribution.
21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
22 | * may be used to endorse or promote products derived from this software
23 | * without specific prior written permission.
24 | *
25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
35 | *
36 | ******************************************************************************
37 | */
38 |
39 |
40 | /* Define to prevent recursive inclusion -------------------------------------*/
41 |
42 | #ifndef __COMPONENT_OBJECT_CLASS_H
43 | #define __COMPONENT_OBJECT_CLASS_H
44 |
45 |
46 | /* Includes ------------------------------------------------------------------*/
47 |
48 | #include
49 |
50 |
51 | /* Classes ------------------------------------------------------------------*/
52 |
53 | /** An abstract class for Generic components.
54 | */
55 | class ComponentObject {
56 | public:
57 | /**
58 | * @brief Initializing the component.
59 | * @param[in] init pointer to device specific initialization structure.
60 | * @retval "0" in case of success, an error code otherwise.
61 | */
62 | virtual int Init() = 0;
63 |
64 | /**
65 | * @brief Getting the ID of the component.
66 | * @param[out] id pointer to an allocated variable to store the ID into.
67 | * @retval "0" in case of success, an error code otherwise.
68 | */
69 | virtual int ReadID() = 0;
70 | };
71 |
72 | #endif /* __COMPONENT_OBJECT_CLASS_H */
73 |
74 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
75 |
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/src/RangeSensor.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file RangeSensor.h
4 | * @author AST / EST
5 | * @version V0.0.1
6 | * @date 13-April-2015
7 | * @brief This file contains the abstract class describing in general
8 | * the interfaces of a range sensor
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT(c) 2015 STMicroelectronics
13 | *
14 | * Redistribution and use in source and binary forms, with or without modification,
15 | * are permitted provided that the following conditions are met:
16 | * 1. Redistributions of source code must retain the above copyright notice,
17 | * this list of conditions and the following disclaimer.
18 | * 2. Redistributions in binary form must reproduce the above copyright notice,
19 | * this list of conditions and the following disclaimer in the documentation
20 | * and/or other materials provided with the distribution.
21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
22 | * may be used to endorse or promote products derived from this software
23 | * without specific prior written permission.
24 | *
25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
35 | *
36 | ******************************************************************************
37 | */
38 |
39 | /* Define to prevent from recursive inclusion --------------------------------*/
40 | #ifndef __RANGE_SENSOR_CLASS_H
41 | #define __RANGE_SENSOR_CLASS_H
42 |
43 | /* Includes ------------------------------------------------------------------*/
44 | #include
45 |
46 | /* Classes ------------------------------------------------------------------*/
47 | /** An abstract class for range sensors
48 | */
49 | class RangeSensor : public ComponentObject {
50 | public:
51 | /**
52 | * @brief Get current range [mm]
53 | * @param[out] piData Pointer to where to store range to
54 | * @return 0 in case of success, an error code otherwise
55 | */
56 | virtual int GetDistance(uint32_t *piData) = 0;
57 | };
58 |
59 | #endif /* __RANGE_SENSOR_CLASS_H */
60 |
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