Inheritance diagram for LeddarOne:

Collaboration diagram for LeddarOne:

Public Member Functions
	LeddarOne (const char device_path, const char serial_port=LEDDAR_ONE_DEFAULT_SERIAL_PORT, const uint8_t device_orientation=distance_sensor_s::ROTATION_DOWNWARD_FACING)

virtual	~LeddarOne ()

virtual int	init () override

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

void	start ()
	Initialise the automatic measurement state machine and start it. More...

void	stop ()
	Stop the automatic measurement state machine. More...

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual	~CDev ()

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Private Member Functions
uint16_t	crc16_calc (const unsigned char *data_frame, const uint8_t crc16_length)
	Calculates the 16 byte crc value for the data frame. More...

int	collect ()
	Reads the data measrurement from serial UART. More...

int	measure ()
	Sends a data request message to the sensor. More...

int	open_serial_port (const speed_t speed=B115200)
	Opens and configures the UART serial communications port. More...

void	Run () override

Private Attributes
const char *	_serial_port {nullptr}

PX4Rangefinder	_px4_rangefinder

int	_file_descriptor {-1}

int	_orb_class_instance {-1}

uint8_t	_buffer [sizeof(reading_msg)]

uint8_t	_buffer_len {0}

hrt_abstime	_measurement_time {0}

perf_counter_t	_comms_error {perf_alloc(PC_COUNT, "leddar_one_comms_error")}

perf_counter_t	_sample_perf {perf_alloc(PC_ELAPSED, "leddar_one_sample")}

Additional Inherited Members
Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

Definition at line 107 of file leddar_one.cpp.

Constructor & Destructor Documentation

◆ LeddarOne()

LeddarOne::LeddarOne	(	const char *	device_path,
		const char *	serial_port = `LEDDAR_ONE_DEFAULT_SERIAL_PORT`,
		const uint8_t	device_orientation = `distance_sensor_s::ROTATION_DOWNWARD_FACING`
	)

Definition at line 175 of file leddar_one.cpp.

References _px4_rangefinder, _serial_port, LEDDAR_ONE_FIELD_OF_VIEW, LEDDAR_ONE_MAX_DISTANCE, LEDDAR_ONE_MIN_DISTANCE, PX4Rangefinder::set_device_type(), PX4Rangefinder::set_fov(), PX4Rangefinder::set_max_distance(), PX4Rangefinder::set_min_distance(), and PX4Rangefinder::set_orientation().

Referenced by leddar_one::start().

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◆ ~LeddarOne()

LeddarOne::~LeddarOne ( )

virtual

Definition at line 189 of file leddar_one.cpp.

References _comms_error, _sample_perf, _serial_port, perf_free(), and stop().

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Member Function Documentation

◆ collect()

int LeddarOne::collect ( )

private

Reads the data measrurement from serial UART.

Definition at line 219 of file leddar_one.cpp.

References _buffer, _buffer_len, _comms_error, _file_descriptor, _measurement_time, _px4_rangefinder, _sample_perf, crc16(), crc16_calc(), f(), measure(), MODBUS_READING_FUNCTION, MODBUS_SLAVE_ADDRESS, msg, perf_begin(), perf_count(), perf_end(), cdev::CDev::read(), and PX4Rangefinder::update().

Referenced by init(), and Run().

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◆ crc16_calc()

uint16_t LeddarOne::crc16_calc	(	const unsigned char *	data_frame,
		const uint8_t	crc16_length
	)

private

Calculates the 16 byte crc value for the data frame.

Parameters

data_frame	The data frame to compute a checksum for.
crc16_length	The length of the data frame.

Definition at line 198 of file leddar_one.cpp.

Referenced by collect().

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◆ init()

int LeddarOne::init ( )

overridevirtual

Reimplemented from cdev::CDev.

Definition at line 276 of file leddar_one.cpp.

References collect(), hrt_absolute_time(), hrt_abstime, ToneAlarmInterface::init(), LEDDAR_ONE_MEASURE_INTERVAL, measure(), open_serial_port(), and stop().

Referenced by leddar_one::start().

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◆ measure()

int LeddarOne::measure ( )

private

Sends a data request message to the sensor.

Definition at line 312 of file leddar_one.cpp.

References _buffer_len, _file_descriptor, _measurement_time, hrt_absolute_time(), request_reading_msg, and cdev::CDev::write().

Referenced by collect(), and init().

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◆ open_serial_port()

int LeddarOne::open_serial_port ( const speed_t speed = B115200 )

private

Opens and configures the UART serial communications port.

Parameters

speed The baudrate (speed) to configure the serial UART port.

Definition at line 330 of file leddar_one.cpp.

References _file_descriptor, _serial_port, cdev::CDev::close(), and cdev::CDev::open().

Referenced by init(), and Run().

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◆ print_info()

void LeddarOne::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 406 of file leddar_one.cpp.

References _comms_error, _sample_perf, LEDDAR_ONE_MEASURE_INTERVAL, and perf_print_counter().

Referenced by leddar_one::status().

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◆ Run()

void LeddarOne::Run ( )

overrideprivate

Definition at line 414 of file leddar_one.cpp.

References collect(), and open_serial_port().

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◆ start()

void LeddarOne::start ( )

Initialise the automatic measurement state machine and start it.

Definition at line 423 of file leddar_one.cpp.

References LEDDAR_ONE_MEASURE_INTERVAL.

Referenced by leddar_one::start().

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◆ stop()

void LeddarOne::stop ( )

Stop the automatic measurement state machine.

Definition at line 431 of file leddar_one.cpp.

References _file_descriptor, and cdev::CDev::close().

Referenced by init(), and ~LeddarOne().

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Member Data Documentation

◆ _buffer

uint8_t LeddarOne::_buffer[sizeof(reading_msg)]

private

Definition at line 166 of file leddar_one.cpp.

Referenced by collect().

◆ _buffer_len

uint8_t LeddarOne::_buffer_len {0}

private

Definition at line 167 of file leddar_one.cpp.

Referenced by collect(), and measure().

◆ _comms_error

perf_counter_t LeddarOne::_comms_error {perf_alloc(PC_COUNT, "leddar_one_comms_error")}

private

Definition at line 171 of file leddar_one.cpp.

Referenced by collect(), print_info(), and ~LeddarOne().

◆ _file_descriptor

int LeddarOne::_file_descriptor {-1}

private

Definition at line 163 of file leddar_one.cpp.

Referenced by collect(), measure(), open_serial_port(), and stop().

◆ _measurement_time

hrt_abstime LeddarOne::_measurement_time {0}

private

Definition at line 169 of file leddar_one.cpp.

Referenced by collect(), and measure().

◆ _orb_class_instance

int LeddarOne::_orb_class_instance {-1}

private

Definition at line 164 of file leddar_one.cpp.

◆ _px4_rangefinder

PX4Rangefinder LeddarOne::_px4_rangefinder

private

Definition at line 161 of file leddar_one.cpp.

Referenced by collect(), and LeddarOne().

◆ _sample_perf

perf_counter_t LeddarOne::_sample_perf {perf_alloc(PC_ELAPSED, "leddar_one_sample")}

private

Definition at line 172 of file leddar_one.cpp.

Referenced by collect(), print_info(), and ~LeddarOne().

◆ _serial_port

const char* LeddarOne::_serial_port {nullptr}

private

Definition at line 159 of file leddar_one.cpp.

Referenced by LeddarOne(), open_serial_port(), and ~LeddarOne().

The documentation for this class was generated from the following file:

src/drivers/distance_sensor/leddar_one/leddar_one.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LeddarOne()

◆ ~LeddarOne()

Member Function Documentation

◆ collect()

◆ crc16_calc()

◆ init()

◆ measure()

◆ open_serial_port()

◆ print_info()

◆ Run()

◆ start()

◆ stop()

Member Data Documentation

◆ _buffer

◆ _buffer_len

◆ _comms_error

◆ _file_descriptor

◆ _measurement_time

◆ _orb_class_instance

◆ _px4_rangefinder

◆ _sample_perf

◆ _serial_port