#ifndef GRF500_H
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#define GRF500_H
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#include <Wire.h>
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#include <Arduino.h>
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#define SDA_PIN (16) /**< I2C data line pin */
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#define SCL_PIN (17) /**< I2C clock line pin */
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#define RANGEFINDER_GRF500_MAX_DISTANCE (50000)
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/**
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* @brief The GRF500 class handles interaction with the GRF500 altimeter sensor.
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*
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* Provides initialization of I2C, register-mode activation and
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* periodic distance measurement in a FreeRTOS task.
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*/
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class GRF500
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{
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public:
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/**
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* @brief Construct a new GRF500 instance
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* @param addr I2C address (default 0x66)
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*/
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explicit GRF500(uint8_t addr = 0x66);
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~GRF500() = default;
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/**
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* @brief FreeRTOS task entry point (static)
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* @param pvParameters Pointer to TaskCreator instance
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*/
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static void Task(void *pvParameters);
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/**
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* @brief Initialize device: start I2C, scan and enable register-mode
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* @return true on success, false otherwise
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*/
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bool begin();
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/**
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* @brief Read and log measurements when available
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*/
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void update();
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/**
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* @brief Last measured distance (meters)
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*/
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static double distance;
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private:
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static uint8_t address; /**< I2C address stored globally */
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bool registerModeActivated{false};
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uint32_t lastReadMs{0}; /**< Timestamp of last read */
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bool scan(uint8_t addr);
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void enableRegisterMode();
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bool checkRegisterMode();
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void readDistance();
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void readMeasurements();
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};
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#endif // GRF500_H
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