LidarLite Class Reference

#include <LidarLite.h>

Inheritance diagram for LidarLite:

Collaboration diagram for LidarLite:

Public Member Functions
	LidarLite (const uint8_t rotation=distance_sensor_s::ROTATION_DOWNWARD_FACING)
virtual	~LidarLite ()
virtual int	init ()=0
virtual void	start ()=0
virtual void	stop ()=0
void	print_info ()
	Diagnostics - print some basic information about the driver. More...
virtual void	print_registers ()
	print registers to console. More...

Protected Member Functions
uint32_t	get_measure_interval () const
virtual int	collect ()=0
virtual int	measure ()=0
virtual int	reset_sensor ()

Protected Attributes
PX4Rangefinder	_px4_rangefinder
perf_counter_t	_comms_errors {perf_alloc(PC_COUNT, "ll40ls: comms errors")}
perf_counter_t	_sample_perf {perf_alloc(PC_ELAPSED, "ll40ls: read")}
perf_counter_t	_sensor_resets {perf_alloc(PC_COUNT, "ll40ls: resets")}
perf_counter_t	_sensor_zero_resets {perf_alloc(PC_COUNT, "ll40ls: zero resets")}

Private Attributes
uint32_t	_measure_interval {LL40LS_CONVERSION_INTERVAL}

Detailed Description

Definition at line 60 of file LidarLite.h.

Constructor & Destructor Documentation

LidarLite()

LidarLite::LidarLite

(

const uint8_t

rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING

)

Definition at line 44 of file LidarLite.cpp.

References _px4_rangefinder, LL40LS_MAX_DISTANCE, LL40LS_MIN_DISTANCE, PX4Rangefinder::set_fov(), PX4Rangefinder::set_max_distance(), and PX4Rangefinder::set_min_distance().

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~LidarLite()

LidarLite::~LidarLite ( )

virtual

Definition at line 52 of file LidarLite.cpp.

References _comms_errors, _sample_perf, _sensor_resets, _sensor_zero_resets, and perf_free().

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Member Function Documentation

collect()

virtual int LidarLite::collect ( )

protectedpure virtual

Implemented in LidarLiteI2C, and LidarLitePWM.

get_measure_interval()

uint32_t LidarLite::get_measure_interval ( ) const

inlineprotected

Definition at line 82 of file LidarLite.h.

Referenced by print_info(), LidarLiteI2C::Run(), and LidarLitePWM::start().

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init()

virtual int LidarLite::init ( )

pure virtual

Implemented in LidarLiteI2C, and LidarLitePWM.

Referenced by ll40ls::start_bus(), and ll40ls::start_pwm().

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measure()

virtual int LidarLite::measure ( )

protectedpure virtual

Implemented in LidarLiteI2C, and LidarLitePWM.

print_info()

void LidarLite::print_info

(

)

Diagnostics - print some basic information about the driver.

Definition at line 61 of file LidarLite.cpp.

References _comms_errors, _sample_perf, _sensor_resets, _sensor_zero_resets, get_measure_interval(), and perf_print_counter().

Referenced by ll40ls::status().

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print_registers()

virtual void LidarLite::print_registers ( )

inlinevirtual

print registers to console.

Reimplemented in LidarLiteI2C.

Definition at line 78 of file LidarLite.h.

Referenced by ll40ls::print_regs().

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reset_sensor()

virtual int LidarLite::reset_sensor ( )

inlineprotectedvirtual

Reimplemented in LidarLiteI2C.

Definition at line 88 of file LidarLite.h.

Referenced by LidarLitePWM::measure().

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start()

virtual void LidarLite::start ( )

pure virtual

Implemented in LidarLiteI2C, and LidarLitePWM.

Referenced by ll40ls::start_bus(), and ll40ls::start_pwm().

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stop()

virtual void LidarLite::stop ( )

pure virtual

Implemented in LidarLiteI2C, and LidarLitePWM.

Member Data Documentation

_comms_errors

perf_counter_t LidarLite::_comms_errors {perf_alloc(PC_COUNT, "ll40ls: comms errors")}

protected

Definition at line 92 of file LidarLite.h.

Referenced by LidarLiteI2C::collect(), LidarLitePWM::measure(), LidarLiteI2C::measure(), print_info(), and ~LidarLite().

_measure_interval

uint32_t LidarLite::_measure_interval {LL40LS_CONVERSION_INTERVAL}

private

Definition at line 99 of file LidarLite.h.

_px4_rangefinder

PX4Rangefinder LidarLite::_px4_rangefinder

protected

Definition at line 88 of file LidarLite.h.

Referenced by LidarLiteI2C::collect(), LidarLite(), LidarLitePWM::measure(), and LidarLiteI2C::probe().

_sample_perf

perf_counter_t LidarLite::_sample_perf {perf_alloc(PC_ELAPSED, "ll40ls: read")}

protected

Definition at line 93 of file LidarLite.h.

Referenced by LidarLiteI2C::collect(), LidarLitePWM::measure(), print_info(), and ~LidarLite().

_sensor_resets

perf_counter_t LidarLite::_sensor_resets {perf_alloc(PC_COUNT, "ll40ls: resets")}

protected

Definition at line 94 of file LidarLite.h.

Referenced by LidarLiteI2C::collect(), LidarLiteI2C::measure(), print_info(), and ~LidarLite().

_sensor_zero_resets

perf_counter_t LidarLite::_sensor_zero_resets {perf_alloc(PC_COUNT, "ll40ls: zero resets")}

protected

Definition at line 95 of file LidarLite.h.

Referenced by LidarLiteI2C::collect(), LidarLitePWM::measure(), print_info(), and ~LidarLite().

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

• src/drivers/distance_sensor/ll40ls/LidarLite.h
• src/drivers/distance_sensor/ll40ls/LidarLite.cpp