Inheritance diagram for SF0X:

Collaboration diagram for SF0X:

Public Member Functions
	SF0X (const char *port=SF0X_DEFAULT_PORT, uint8_t rotation=distance_sensor_s::ROTATION_DOWNWARD_FACING)

virtual	~SF0X ()

virtual int	init () override

virtual ssize_t	read (device::file_t filp, char buffer, size_t buflen) override
	Perform a read from the device. More...

virtual int	ioctl (device::file_t *filp, int cmd, unsigned long arg) override
	Perform an ioctl operation on the device. 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	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	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
void	start ()
	Initialise the automatic measurement state machine and start it. More...

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

void	set_minimum_distance (float min)
	Set the min and max distance thresholds if you want the end points of the sensors range to be brought in at all, otherwise it will use the defaults SF0X_MIN_DISTANCE and SF0X_MAX_DISTANCE. More...

void	set_maximum_distance (float max)

float	get_minimum_distance ()

float	get_maximum_distance ()

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

int	measure ()

int	collect ()

Private Attributes
char	_port [20]

uint8_t	_rotation

float	_min_distance

float	_max_distance

int	_conversion_interval

ringbuffer::RingBuffer *	_reports

int	_measure_interval

bool	_collect_phase

int	_fd

char	_linebuf [10]

unsigned	_linebuf_index

enum SF0X_PARSE_STATE	_parse_state

hrt_abstime	_last_read

int	_class_instance

int	_orb_class_instance

orb_advert_t	_distance_sensor_topic

unsigned	_consecutive_fail_count

perf_counter_t	_sample_perf

perf_counter_t	_comms_errors

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 80 of file sf0x.cpp.

Constructor & Destructor Documentation

◆ SF0X()

SF0X::SF0X	(	const char *	port = `SF0X_DEFAULT_PORT`,
		uint8_t	rotation = `distance_sensor_s::ROTATION_DOWNWARD_FACING`
	)

Definition at line 159 of file sf0x.cpp.

References _port.

Referenced by sf0x::start().

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◆ ~SF0X()

SF0X::~SF0X ( )

virtual

Definition at line 188 of file sf0x.cpp.

References _class_instance, _comms_errors, _reports, _sample_perf, perf_free(), RANGE_FINDER_BASE_DEVICE_PATH, stop(), and cdev::CDev::unregister_class_devname().

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Member Function Documentation

◆ collect()

int SF0X::collect ( )

private

Definition at line 454 of file sf0x.cpp.

Referenced by read(), and Run().

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◆ get_maximum_distance()

float SF0X::get_maximum_distance ( )

private

Definition at line 305 of file sf0x.cpp.

References _max_distance.

Referenced by collect().

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◆ get_minimum_distance()

float SF0X::get_minimum_distance ( )

private

Definition at line 299 of file sf0x.cpp.

References _min_distance.

Referenced by collect().

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◆ init()

int SF0X::init ( )

overridevirtual

Reimplemented from cdev::CDev.

Definition at line 207 of file sf0x.cpp.

References _class_instance, _conversion_interval, _distance_sensor_topic, _max_distance, _min_distance, _orb_class_instance, _reports, ToneAlarmInterface::init(), OK, orb_advertise_multi(), ORB_ID, ORB_PRIO_HIGH, param_find(), param_get(), RANGE_FINDER_BASE_DEVICE_PATH, and cdev::CDev::register_class_devname().

Referenced by sf0x::start().

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◆ ioctl()

int SF0X::ioctl	(	device::file_t *	filep,
		int	cmd,
		unsigned long	arg
	)

overridevirtual

Perform an ioctl operation on the device.

The default implementation handles DIOC_GETPRIV, and otherwise returns -ENOTTY. Subclasses should call the default implementation for any command they do not handle themselves.

Parameters

filep	Pointer to the NuttX file structure.
cmd	The ioctl command value.
arg	The ioctl argument value.

Returns: OK on success, or -errno otherwise.

Reimplemented from cdev::CDev.

Definition at line 311 of file sf0x.cpp.

References _conversion_interval, _measure_interval, OK, SENSOR_POLLRATE_DEFAULT, SENSORIOCSPOLLRATE, and start().

Referenced by sf0x::reset(), sf0x::start(), and sf0x::test().

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◆ measure()

int SF0X::measure ( )

private

Definition at line 432 of file sf0x.cpp.

References _comms_errors, _fd, OK, perf_count(), SF0X_TAKE_RANGE_REG, and cdev::CDev::write().

Referenced by read(), and Run().

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◆ print_info()

void SF0X::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 659 of file sf0x.cpp.

References _comms_errors, _measure_interval, _reports, _sample_perf, and perf_print_counter().

Referenced by sf0x::info().

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◆ read()

ssize_t SF0X::read	(	device::file_t *	filep,
		char *	buffer,
		size_t	buflen
	)

overridevirtual

Perform a read from the device.

The default implementation returns -ENOSYS.

Parameters

filep	Pointer to the NuttX file structure.
buffer	Pointer to the buffer into which data should be placed.
buflen	The number of bytes to be read.

Returns: The number of bytes read or -errno otherwise.

Reimplemented from cdev::CDev.

Definition at line 372 of file sf0x.cpp.

References _conversion_interval, _measure_interval, _reports, collect(), measure(), and OK.

Referenced by collect(), and sf0x::test().

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◆ Run()

void SF0X::Run ( )

overrideprivate

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

Definition at line 547 of file sf0x.cpp.

References _collect_phase, _consecutive_fail_count, _conversion_interval, _fd, _measure_interval, _port, collect(), hrt_absolute_time(), measure(), OK, cdev::CDev::open(), param_find(), param_get(), and start().

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◆ set_maximum_distance()

void SF0X::set_maximum_distance ( float max )

private

Definition at line 293 of file sf0x.cpp.

References _max_distance, and math::max().

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◆ set_minimum_distance()

void SF0X::set_minimum_distance ( float min )

private

Set the min and max distance thresholds if you want the end points of the sensors range to be brought in at all, otherwise it will use the defaults SF0X_MIN_DISTANCE and SF0X_MAX_DISTANCE.

Definition at line 287 of file sf0x.cpp.

References _min_distance, and math::min().

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◆ start()

void SF0X::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 530 of file sf0x.cpp.

References _collect_phase, and _reports.

Referenced by ioctl(), and Run().

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◆ stop()

void SF0X::stop ( )

private

Stop the automatic measurement state machine.

Definition at line 541 of file sf0x.cpp.

Referenced by ~SF0X().

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Member Data Documentation

◆ _class_instance

int SF0X::_class_instance

private

Definition at line 111 of file sf0x.cpp.

Referenced by init(), and ~SF0X().

◆ _collect_phase

bool SF0X::_collect_phase

private

Definition at line 104 of file sf0x.cpp.

Referenced by Run(), and start().

◆ _comms_errors

perf_counter_t SF0X::_comms_errors

private

Definition at line 119 of file sf0x.cpp.

Referenced by collect(), measure(), print_info(), and ~SF0X().

◆ _consecutive_fail_count

unsigned SF0X::_consecutive_fail_count

private

Definition at line 116 of file sf0x.cpp.

Referenced by Run().

◆ _conversion_interval

int SF0X::_conversion_interval

private

Definition at line 101 of file sf0x.cpp.

Referenced by collect(), init(), ioctl(), read(), and Run().

◆ _distance_sensor_topic

orb_advert_t SF0X::_distance_sensor_topic

private

Definition at line 114 of file sf0x.cpp.

Referenced by collect(), and init().

◆ _fd

int SF0X::_fd

private

Definition at line 105 of file sf0x.cpp.

Referenced by collect(), measure(), and Run().

◆ _last_read

hrt_abstime SF0X::_last_read

private

Definition at line 109 of file sf0x.cpp.

Referenced by collect().

◆ _linebuf

char SF0X::_linebuf[10]

private

Definition at line 106 of file sf0x.cpp.

Referenced by collect().

◆ _linebuf_index

unsigned SF0X::_linebuf_index

private

Definition at line 107 of file sf0x.cpp.

Referenced by collect().

◆ _max_distance

float SF0X::_max_distance

private

Definition at line 100 of file sf0x.cpp.

Referenced by get_maximum_distance(), init(), and set_maximum_distance().

◆ _measure_interval

int SF0X::_measure_interval

private

Definition at line 103 of file sf0x.cpp.

Referenced by ioctl(), print_info(), read(), and Run().

◆ _min_distance

float SF0X::_min_distance

private

Definition at line 99 of file sf0x.cpp.

Referenced by get_minimum_distance(), init(), and set_minimum_distance().

◆ _orb_class_instance

int SF0X::_orb_class_instance

private

Definition at line 112 of file sf0x.cpp.

Referenced by init().

◆ _parse_state

enum SF0X_PARSE_STATE SF0X::_parse_state

private

Definition at line 108 of file sf0x.cpp.

Referenced by collect().

◆ _port

char SF0X::_port[20]

private

Definition at line 97 of file sf0x.cpp.

Referenced by Run(), and SF0X().

◆ _reports

ringbuffer::RingBuffer* SF0X::_reports

private

Definition at line 102 of file sf0x.cpp.

Referenced by collect(), init(), print_info(), read(), start(), and ~SF0X().

◆ _rotation

uint8_t SF0X::_rotation

private

Definition at line 98 of file sf0x.cpp.

Referenced by collect().

◆ _sample_perf

perf_counter_t SF0X::_sample_perf

private

Definition at line 118 of file sf0x.cpp.

Referenced by collect(), print_info(), and ~SF0X().

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

src/drivers/distance_sensor/sf0x/sf0x.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SF0X()

◆ ~SF0X()

Member Function Documentation

◆ collect()

◆ get_maximum_distance()

◆ get_minimum_distance()

◆ init()

◆ ioctl()

◆ measure()

◆ print_info()

◆ read()

◆ Run()

◆ set_maximum_distance()

◆ set_minimum_distance()

◆ start()

◆ stop()

Member Data Documentation

◆ _class_instance

◆ _collect_phase

◆ _comms_errors

◆ _consecutive_fail_count

◆ _conversion_interval

◆ _distance_sensor_topic

◆ _fd

◆ _last_read

◆ _linebuf

◆ _linebuf_index

◆ _max_distance

◆ _measure_interval

◆ _min_distance

◆ _orb_class_instance

◆ _parse_state

◆ _port

◆ _reports

◆ _rotation

◆ _sample_perf