tof.h

// Interfaces for four time of flight sensors.
// 2024-04-13

#ifndef _TAMARIW_TOF_H_
#define _TAMARIW_TOF_H_

#include "satellite_config.h"
#include <inttypes.h>

// Indices to access individual sensor
enum tof_idx
{
  TOF_IDX_0,
  TOF_IDX_1,
  TOF_IDX_2,
  TOF_IDX_3,
  TOF_IDX_ALL
};

enum tof_status
{
  TOF_STATUS_ERROR,
  TOF_STATUS_OK,
  TOF_STATUS_TOF_TIMEOUT,
  TOF_STATUS_MUX_TIMEOUT
};

namespace tof
{
  tof_status init(const tof_idx idx);
  tof_status get_distance(int distance[4]);
  bool get_velocity(const int d[4], const double dt, float v[4]);
  tof_status calibrate(const int16_t target_mm, const int16_t n);
  tof_status get_single_distance(const tof_idx idx, int *distance);

  void wakeup(void);
  void restart(void);
  void shut_down(void);
  void i2c_reset(void);
  void int_xshunt(void);

  void enable_median_filter(void);
  void disable_median_filter(void);
}

#endif // tof.h