leddar_one.cpp File Reference

#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <arch/board/board.h>
#include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_hrt.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/topics/distance_sensor.h>

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Classes
class	LeddarOne

Namespaces
	leddar_one
	Local functions in support of the shell command.

Macros
#define	DEVICE_PATH   "/dev/LeddarOne"
#define	LEDDAR_ONE_DEFAULT_SERIAL_PORT   "/dev/ttyS3"
#define	LEDDAR_ONE_FIELD_OF_VIEW   (0.105f)
#define	LEDDAR_ONE_MAX_DISTANCE   40.0f
#define	LEDDAR_ONE_MIN_DISTANCE   0.01f
#define	LEDDAR_ONE_MEASURE_INTERVAL   100_ms
#define	MODBUS_SLAVE_ADDRESS   0x01
#define	MODBUS_READING_FUNCTION   0x04
#define	READING_START_ADDR   0x14
#define	READING_LEN   0xA

Functions
struct	__attribute__ ((__packed__)) reading_msg
int	leddar_one::start (const char *port=LEDDAR_ONE_DEFAULT_SERIAL_PORT, const uint8_t rotation=distance_sensor_s::ROTATION_DOWNWARD_FACING)
int	leddar_one::status ()
	Print the driver status. More...
int	leddar_one::stop ()
	Stop the driver. More...
int	leddar_one::test (const char *port)
	Perform some basic functional tests on the driver; make sure we can collect data from the sensor in polled and automatic modes. More...
int	leddar_one::usage ()
	Prints info about the driver argument usage. More...
__EXPORT int	leddar_one_main (int argc, char *argv[])

Variables
static const uint8_t	request_reading_msg []
LeddarOne *	leddar_one::g_dev

Macro Definition Documentation

DEVICE_PATH

#define DEVICE_PATH   "/dev/LeddarOne"

Definition at line 54 of file leddar_one.cpp.

Referenced by leddar_one::start().

LEDDAR_ONE_DEFAULT_SERIAL_PORT

#define LEDDAR_ONE_DEFAULT_SERIAL_PORT   "/dev/ttyS3"

Definition at line 55 of file leddar_one.cpp.

Referenced by leddar_one_main().

LEDDAR_ONE_FIELD_OF_VIEW

#define LEDDAR_ONE_FIELD_OF_VIEW   (0.105f)

Definition at line 57 of file leddar_one.cpp.

Referenced by LeddarOne::LeddarOne().

LEDDAR_ONE_MAX_DISTANCE

#define LEDDAR_ONE_MAX_DISTANCE   40.0f

Definition at line 59 of file leddar_one.cpp.

Referenced by LeddarOne::LeddarOne().

LEDDAR_ONE_MEASURE_INTERVAL

#define LEDDAR_ONE_MEASURE_INTERVAL   100_ms

Definition at line 62 of file leddar_one.cpp.

Referenced by LeddarOne::init(), LeddarOne::print_info(), LeddarOne::start(), and leddar_one::test().

LEDDAR_ONE_MIN_DISTANCE

#define LEDDAR_ONE_MIN_DISTANCE   0.01f

Definition at line 60 of file leddar_one.cpp.

Referenced by LeddarOne::LeddarOne().

MODBUS_READING_FUNCTION

#define MODBUS_READING_FUNCTION   0x04

Definition at line 65 of file leddar_one.cpp.

Referenced by LeddarOne::collect().

MODBUS_SLAVE_ADDRESS

#define MODBUS_SLAVE_ADDRESS   0x01

Definition at line 64 of file leddar_one.cpp.

Referenced by LeddarOne::collect().

READING_LEN

#define READING_LEN   0xA

Definition at line 67 of file leddar_one.cpp.

READING_START_ADDR

#define READING_START_ADDR   0x14

Definition at line 66 of file leddar_one.cpp.

Function Documentation

__attribute__()

struct __attribute__

(

(__packed__)

)

Definition at line 80 of file leddar_one.cpp.

Referenced by test_file(), and test_mount().

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leddar_one_main()

__EXPORT int leddar_one_main	(	int	argc,
		char *	argv[]
	)

Definition at line 593 of file leddar_one.cpp.

References LEDDAR_ONE_DEFAULT_SERIAL_PORT, leddar_one::start(), leddar_one::status(), leddar_one::stop(), leddar_one::test(), and leddar_one::usage().

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Variable Documentation

request_reading_msg

const uint8_t request_reading_msg[]

static

Initial value:

= {
    MODBUS_SLAVE_ADDRESS,
    MODBUS_READING_FUNCTION,
    0, 
    READING_START_ADDR,
    0, 
    READING_LEN,
    0x30, 
    0x09 
}

Definition at line 69 of file leddar_one.cpp.

Referenced by LeddarOne::measure(), and leddar_one::test().