teraranger.cpp File Reference

#include <drivers/device/i2c.h>
#include <lib/parameters/param.h>
#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/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/module.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/uORB.h>

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Classes
class	TERARANGER

Namespaces
	teraranger
	Local functions in support of the shell command.

Macros
#define	TERARANGER_BUS_DEFAULT   PX4_I2C_BUS_EXPANSION
#define	TERARANGER_DEVICE_PATH   "/dev/teraranger"
#define	TERARANGER_ONE_BASEADDR   0x30
#define	TERARANGER_EVO_BASEADDR   0x31
#define	TERARANGER_MEASURE_REG   0x00
#define	TERARANGER_WHO_AM_I_REG   0x01
#define	TERARANGER_WHO_AM_I_REG_VAL   0xA1
#define	TERARANGER_ONE_MAX_DISTANCE   (14.00f)
#define	TERARANGER_ONE_MIN_DISTANCE   (0.20f)
#define	TERARANGER_EVO_3M_MAX_DISTANCE   (3.0f)
#define	TERARANGER_EVO_3M_MIN_DISTANCE   (0.10f)
#define	TERARANGER_EVO_60M_MAX_DISTANCE   (60.0f)
#define	TERARANGER_EVO_60M_MIN_DISTANCE   (0.50f)
#define	TERARANGER_EVO_600HZ_MAX_DISTANCE   (8.0f)
#define	TERARANGER_EVO_600HZ_MIN_DISTANCE   (0.75f)
#define	TERARANGER_MEASUREMENT_INTERVAL   50_us

Functions
static uint8_t	crc8 (uint8_t *p, uint8_t len)
int	teraranger::start (const uint8_t orientation)
	Attempt to start driver on all available I2C busses. More...
int	teraranger::start_bus (const int i2c_bus, const uint8_t orientation)
	Start the driver on a specific bus. More...
int	teraranger::status ()
	Print the driver status. More...
int	teraranger::stop ()
	Stop the driver. More...
int	teraranger::usage ()
	Prints info about the driver argument usage. More...
__EXPORT int	teraranger_main (int argc, char *argv[])
	Driver 'main' command. More...

Variables
static const uint8_t	crc_table []
TERARANGER *	teraranger::g_dev

Detailed Description

Author

Luis Rodrigues

Driver for the TeraRanger One range finders connected via I2C.

Definition in file teraranger.cpp.

Macro Definition Documentation

TERARANGER_BUS_DEFAULT

#define TERARANGER_BUS_DEFAULT   PX4_I2C_BUS_EXPANSION

Definition at line 55 of file teraranger.cpp.

Referenced by teraranger_main().

TERARANGER_DEVICE_PATH

#define TERARANGER_DEVICE_PATH   "/dev/teraranger"

Definition at line 56 of file teraranger.cpp.

TERARANGER_EVO_3M_MAX_DISTANCE

#define TERARANGER_EVO_3M_MAX_DISTANCE   (3.0f)

Definition at line 69 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_EVO_3M_MIN_DISTANCE

#define TERARANGER_EVO_3M_MIN_DISTANCE   (0.10f)

Definition at line 70 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_EVO_600HZ_MAX_DISTANCE

#define TERARANGER_EVO_600HZ_MAX_DISTANCE   (8.0f)

Definition at line 75 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_EVO_600HZ_MIN_DISTANCE

#define TERARANGER_EVO_600HZ_MIN_DISTANCE   (0.75f)

Definition at line 76 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_EVO_60M_MAX_DISTANCE

#define TERARANGER_EVO_60M_MAX_DISTANCE   (60.0f)

Definition at line 72 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_EVO_60M_MIN_DISTANCE

#define TERARANGER_EVO_60M_MIN_DISTANCE   (0.50f)

Definition at line 73 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_EVO_BASEADDR

#define TERARANGER_EVO_BASEADDR   0x31

Definition at line 58 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_MEASURE_REG

#define TERARANGER_MEASURE_REG   0x00

Definition at line 61 of file teraranger.cpp.

Referenced by TERARANGER::measure().

TERARANGER_MEASUREMENT_INTERVAL

#define TERARANGER_MEASUREMENT_INTERVAL   50_us

Definition at line 78 of file teraranger.cpp.

Referenced by TERARANGER::print_info(), and TERARANGER::start().

TERARANGER_ONE_BASEADDR

#define TERARANGER_ONE_BASEADDR   0x30

Definition at line 57 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_ONE_MAX_DISTANCE

#define TERARANGER_ONE_MAX_DISTANCE   (14.00f)

Definition at line 66 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_ONE_MIN_DISTANCE

#define TERARANGER_ONE_MIN_DISTANCE   (0.20f)

Definition at line 67 of file teraranger.cpp.

Referenced by TERARANGER::init().

TERARANGER_WHO_AM_I_REG

#define TERARANGER_WHO_AM_I_REG   0x01

Definition at line 62 of file teraranger.cpp.

Referenced by TERARANGER::probe().

TERARANGER_WHO_AM_I_REG_VAL

#define TERARANGER_WHO_AM_I_REG_VAL   0xA1

Definition at line 63 of file teraranger.cpp.

Referenced by TERARANGER::probe().

Function Documentation

crc8()

static uint8_t crc8 ( uint8_t *  p, uint8_t  len  )

static

Definition at line 180 of file teraranger.cpp.

References crc_table.

Referenced by TERARANGER::collect(), DShotTelemetry::decodeByte(), and px4::bst::BST::send_packet().

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teraranger_main()

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

Driver 'main' command.

Definition at line 574 of file teraranger.cpp.

References teraranger::start(), teraranger::start_bus(), teraranger::status(), teraranger::stop(), TERARANGER_BUS_DEFAULT, and teraranger::usage().

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Variable Documentation

crc_table

const uint8_t crc_table[]

static

Initial value:

= {
    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
    0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
    0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
    0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
    0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
    0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
    0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
    0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
    0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
    0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
    0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
    0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
    0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
    0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
    0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
    0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
    0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
    0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
    0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
    0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
    0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
    0xfa, 0xfd, 0xf4, 0xf3
}

Definition at line 155 of file teraranger.cpp.

Referenced by crc8().