Inheritance diagram for IRLOCK:

Collaboration diagram for IRLOCK:

Public Member Functions
	IRLOCK (int bus=IRLOCK_I2C_BUS, int address=IRLOCK_I2C_ADDRESS)
	constructor More...

virtual	~IRLOCK ()
	destructor More...

virtual int	init ()
	initialise driver to communicate with sensor More...

virtual int	probe ()
	probe the device is on the I2C bus More...

virtual int	info ()
	display driver info More...

virtual int	test ()
	test driver More...

virtual ssize_t	read (struct file filp, char buffer, size_t buflen)

Private Member Functions
void	start ()
	start periodic reads from sensor More...

void	stop ()
	stop periodic reads from sensor More...

void	Run () override
	read from device and schedule next read More...

int	read_device ()
	low level communication with sensor More...

bool	sync_device ()
	sync device to ensure reading starts at new frame More...

int	read_device_word (uint16_t *word)
	read a word (two bytes) from sensor More...

int	read_device_block (struct irlock_target_s *block)
	read a single block (a full frame) from sensor More...

Private Attributes
ringbuffer::RingBuffer *	_reports
	internal variables More...

bool	_sensor_ok

uint32_t	_read_failures

int	_orb_class_instance

orb_advert_t	_irlock_report_topic

Detailed Description

Definition at line 99 of file irlock.cpp.

Constructor & Destructor Documentation

◆ IRLOCK()

IRLOCK::IRLOCK	(	int	bus = `IRLOCK_I2C_BUS`,
		int	address = `IRLOCK_I2C_ADDRESS`
	)

constructor

Definition at line 149 of file irlock.cpp.

Referenced by irlock_main().

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◆ ~IRLOCK()

IRLOCK::~IRLOCK ( )

virtual

destructor

clear reports queue

Definition at line 161 of file irlock.cpp.

References _reports, and stop().

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Member Function Documentation

◆ info()

int IRLOCK::info ( )

virtual

display driver info

display reports in queue

Definition at line 213 of file irlock.cpp.

References _read_failures, _reports, _sensor_ok, errx, OK, and warnx.

◆ init()

int IRLOCK::init ( )

virtual

initialise driver to communicate with sensor

initialise I2C bus

allocate buffer storing values read from sensor

start work queue

Definition at line 172 of file irlock.cpp.

References _reports, _sensor_ok, ToneAlarmInterface::init(), OK, and start().

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◆ probe()

int IRLOCK::probe ( )

virtual

probe the device is on the I2C bus

Definition at line 196 of file irlock.cpp.

References OK.

◆ read()

ssize_t IRLOCK::read	(	struct file *	filp,
		char *	buffer,
		size_t	buflen
	)

virtual

try to read

Definition at line 296 of file irlock.cpp.

References _reports.

◆ read_device()

int IRLOCK::read_device ( )

private

low level communication with sensor

read all available frames from sensor

if we sync, then we are starting a new frame, else fail

Definition at line 344 of file irlock.cpp.

References _irlock_report_topic, _orb_class_instance, _reports, DEVICE_LOG, hrt_absolute_time(), IRLOCK_OBJECTS_MAX, irlock_s::num_targets, OK, orb_advertise_multi(), ORB_ID, ORB_PRIO_LOW, orb_publish(), irlock_report_s::pos_x, irlock_target_s::pos_x, irlock_report_s::pos_y, irlock_target_s::pos_y, read_device_block(), irlock_report_s::signature, irlock_target_s::signature, irlock_report_s::size_x, irlock_target_s::size_x, irlock_report_s::size_y, irlock_target_s::size_y, sync_device(), irlock_s::targets, irlock_report_s::timestamp, and irlock_s::timestamp.

Referenced by Run().

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◆ read_device_block()

int IRLOCK::read_device_block ( struct irlock_target_s * block )

private

read a single block (a full frame) from sensor

crc check

convert to angles

Definition at line 406 of file irlock.cpp.

References _read_failures, IRLOCK_CENTER_X, IRLOCK_CENTER_Y, IRLOCK_TAN_ANG_PER_PIXEL_X, IRLOCK_TAN_ANG_PER_PIXEL_Y, irlock_target_s::pos_x, irlock_target_s::pos_y, irlock_report_s::signature, irlock_target_s::signature, irlock_target_s::size_x, irlock_target_s::size_y, and status.

Referenced by read_device().

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◆ read_device_word()

int IRLOCK::read_device_word ( uint16_t * word )

private

read a word (two bytes) from sensor

Definition at line 394 of file irlock.cpp.

References status.

Referenced by sync_device().

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◆ Run()

void IRLOCK::Run ( )

overrideprivate

read from device and schedule next read

ignoring failure, if we do, we will be back again right away...

schedule the next cycle

Definition at line 287 of file irlock.cpp.

References IRLOCK_CONVERSION_INTERVAL_US, and read_device().

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◆ start()

void IRLOCK::start ( )

private

start periodic reads from sensor

flush ring and reset state machine

start work queue cycle

Definition at line 272 of file irlock.cpp.

References _reports.

Referenced by init().

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◆ stop()

void IRLOCK::stop ( )

private

stop periodic reads from sensor

Definition at line 282 of file irlock.cpp.

Referenced by ~IRLOCK().

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◆ sync_device()

bool IRLOCK::sync_device ( )

private

sync device to ensure reading starts at new frame

Definition at line 320 of file irlock.cpp.

References IRLOCK_ADJUST, IRLOCK_RESYNC, IRLOCK_SYNC, OK, and read_device_word().

Referenced by read_device().

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◆ test()

int IRLOCK::test ( )

virtual

test driver

exit immediately if driver not running

exit immediately if sensor is not healty

instructions to user

read from sensor for 10 seconds

output all objects found

sleep for 0.05 seconds

Definition at line 232 of file irlock.cpp.

References _reports, _sensor_ok, errx, hrt_absolute_time(), irlock_s::num_targets, OK, irlock_target_s::pos_x, irlock_target_s::pos_y, irlock_target_s::signature, irlock_target_s::size_x, irlock_target_s::size_y, irlock_s::targets, and warnx.

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Member Data Documentation

◆ _irlock_report_topic

orb_advert_t IRLOCK::_irlock_report_topic

private

Definition at line 135 of file irlock.cpp.

Referenced by read_device().

◆ _orb_class_instance

int IRLOCK::_orb_class_instance

private

Definition at line 134 of file irlock.cpp.

Referenced by read_device().

◆ _read_failures

uint32_t IRLOCK::_read_failures

private

Definition at line 132 of file irlock.cpp.

Referenced by info(), and read_device_block().

◆ _reports

ringbuffer::RingBuffer* IRLOCK::_reports

private

internal variables

Definition at line 130 of file irlock.cpp.

Referenced by info(), init(), read(), read_device(), start(), test(), and ~IRLOCK().

◆ _sensor_ok

bool IRLOCK::_sensor_ok

private

Definition at line 131 of file irlock.cpp.

Referenced by info(), init(), and test().

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

src/drivers/irlock/irlock.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IRLOCK()

◆ ~IRLOCK()

Member Function Documentation

◆ info()

◆ init()

◆ probe()

◆ read()

◆ read_device()

◆ read_device_block()

◆ read_device_word()

◆ Run()

◆ start()

◆ stop()

◆ sync_device()

◆ test()

Member Data Documentation

◆ _irlock_report_topic

◆ _orb_class_instance

◆ _read_failures

◆ _reports

◆ _sensor_ok