Inheritance diagram for Radar:

Collaboration diagram for Radar:

Public Member Functions
	Radar (const char *port=RADAR_DEFAULT_PORT, uint8_t rotation=distance_sensor_s::ROTATION_DOWNWARD_FACING)
	Default Constructor. More...

virtual	~Radar ()
	Virtual destructor. More...

virtual int	init () override
	Method : init() This method initializes the general driver for a range finder sensor. More...

void	print_info ()
	Diagnostics - print some basic information about the driver. 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
int	collect ()
	Reads data from serial UART and places it into a buffer. More...

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

void	Run () override
	Perform a reading cycle; collect from the previous measurement and start a new one. More...

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

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

Private Attributes
char	_port [20]

int	_file_descriptor {-1}

int	_orb_class_instance {-1}

unsigned int	_head {0}

unsigned int	_tail {0}

uint8_t	_buffer [ULANDING_BUFFER_LENGTH] {}

uint8_t	_rotation

perf_counter_t	_comms_errors {perf_alloc(PC_COUNT, "radar_com_err")}

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

orb_advert_t	_distance_sensor_topic {nullptr}

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 101 of file ulanding.cpp.

Constructor & Destructor Documentation

◆ Radar()

Radar::Radar	(	const char *	port = `RADAR_DEFAULT_PORT`,
		uint8_t	rotation = `distance_sensor_s::ROTATION_DOWNWARD_FACING`
	)

Default Constructor.

Parameters

port	The serial port to open for communicating with the sensor.
rotation	The sensor rotation relative to the vehicle body.

Definition at line 173 of file ulanding.cpp.

References _port.

Referenced by radar::start().

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◆ ~Radar()

Radar::~Radar ( )

virtual

Virtual destructor.

Definition at line 184 of file ulanding.cpp.

References _comms_errors, _sample_perf, perf_free(), and stop().

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Member Function Documentation

◆ collect()

int Radar::collect ( )

private

Reads data from serial UART and places it into a buffer.

Definition at line 194 of file ulanding.cpp.

Referenced by Run().

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◆ init()

int Radar::init ( )

overridevirtual

Method : init() This method initializes the general driver for a range finder sensor.

Reimplemented from cdev::CDev.

Definition at line 271 of file ulanding.cpp.

References _distance_sensor_topic, _orb_class_instance, ToneAlarmInterface::init(), OK, orb_advertise_multi(), ORB_ID, ORB_PRIO_HIGH, and start().

Referenced by radar::start().

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◆ open_serial_port()

int Radar::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 292 of file ulanding.cpp.

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

Referenced by Run().

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◆ print_info()

void Radar::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 364 of file ulanding.cpp.

References _comms_errors, _sample_perf, perf_print_counter(), ULANDING_MAX_DISTANCE, ULANDING_MEASURE_INTERVAL, and ULANDING_MIN_DISTANCE.

Referenced by radar::status().

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◆ Run()

void Radar::Run ( )

overrideprivate

Perform a reading cycle; collect from the previous measurement and start a new one.

Definition at line 374 of file ulanding.cpp.

References collect(), and open_serial_port().

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◆ start()

void Radar::start ( )

private

Initialise the automatic measurement state machine and start it.

Note: This function is called at open and error time. It might make sense to make it more aggressive about resetting the bus in case of errors.

Definition at line 383 of file ulanding.cpp.

References ULANDING_MEASURE_INTERVAL.

Referenced by init(), and radar::reset().

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◆ stop()

void Radar::stop ( )

private

Stops the automatic measurement state machine.

Definition at line 391 of file ulanding.cpp.

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

Referenced by radar::reset(), and ~Radar().

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Member Data Documentation

◆ _buffer

uint8_t Radar::_buffer[ULANDING_BUFFER_LENGTH] {}

private

Definition at line 164 of file ulanding.cpp.

Referenced by collect().

◆ _comms_errors

perf_counter_t Radar::_comms_errors {perf_alloc(PC_COUNT, "radar_com_err")}

private

Definition at line 167 of file ulanding.cpp.

Referenced by print_info(), and ~Radar().

◆ _distance_sensor_topic

orb_advert_t Radar::_distance_sensor_topic {nullptr}

private

Definition at line 170 of file ulanding.cpp.

Referenced by collect(), and init().

◆ _file_descriptor

int Radar::_file_descriptor {-1}

private

Definition at line 158 of file ulanding.cpp.

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

◆ _head

unsigned int Radar::_head {0}

private

Definition at line 161 of file ulanding.cpp.

◆ _orb_class_instance

int Radar::_orb_class_instance {-1}

private

Definition at line 159 of file ulanding.cpp.

Referenced by init().

◆ _port

char Radar::_port[20]

private

Definition at line 156 of file ulanding.cpp.

Referenced by open_serial_port(), and Radar().

◆ _rotation

uint8_t Radar::_rotation

private

Definition at line 165 of file ulanding.cpp.

Referenced by collect().

◆ _sample_perf

perf_counter_t Radar::_sample_perf {perf_alloc(PC_ELAPSED, "radar_read")}

private

Definition at line 168 of file ulanding.cpp.

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

◆ _tail

unsigned int Radar::_tail {0}

private

Definition at line 162 of file ulanding.cpp.

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

src/drivers/distance_sensor/ulanding/ulanding.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Radar()

◆ ~Radar()

Member Function Documentation

◆ collect()

◆ init()

◆ open_serial_port()

◆ print_info()

◆ Run()

◆ start()

◆ stop()

Member Data Documentation

◆ _buffer

◆ _comms_errors

◆ _distance_sensor_topic

◆ _file_descriptor

◆ _head

◆ _orb_class_instance

◆ _port

◆ _rotation

◆ _sample_perf

◆ _tail