srf02.cpp File Reference

Driver for the SRF02 sonar range finder adapted from the Maxbotix sonar range finder driver (srf02). More...

#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 <containers/Array.hpp>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>

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Classes
class	SRF02

Namespaces
	srf02
	Local functions in support of the shell command.

Macros
#define	SRF02_BASEADDR   0x70
#define	SRF02_BUS_DEFAULT   PX4_I2C_BUS_EXPANSION
#define	SRF02_DEVICE_PATH   "/dev/srf02"
#define	SRF02_TAKE_RANGE_REG   0x51
#define	SRF02_SET_ADDRESS_0   0xA0
#define	SRF02_SET_ADDRESS_1   0xAA
#define	SRF02_SET_ADDRESS_2   0xA5
#define	SRF02_MIN_DISTANCE   (0.20f)
#define	SRF02_MAX_DISTANCE   (7.65f)
#define	SRF02_CONVERSION_INTERVAL   100000
#define	SRF02_INTERVAL_BETWEEN_SUCCESIVE_FIRES   100000

Functions
__EXPORT int	srf02_main (int argc, char *argv[])
	Driver 'main' command. More...
int	srf02::reset ()
	Reset the driver. More...
int	srf02::start (uint8_t rotation)
	Attempt to start driver on all available I2C busses. More...
int	srf02::start_bus (uint8_t rotation, int i2c_bus)
	Start the driver on a specific bus. More...
int	srf02::status ()
	Print the driver status. More...
int	srf02::stop ()
	Stop the driver. More...
int	srf02::test ()
	Perform some basic functional tests on the driver; make sure we can collect data from the sensor in polled and automatic modes. More...
int	srf02::usage ()
	Prints info about the driver argument usage. More...

Variables
SRF02 *	srf02::g_dev

Detailed Description

Driver for the SRF02 sonar range finder adapted from the Maxbotix sonar range finder driver (srf02).

Definition in file srf02.cpp.

Macro Definition Documentation

SRF02_BASEADDR

#define SRF02_BASEADDR   0x70

Definition at line 72 of file srf02.cpp.

Referenced by SRF02::init().

SRF02_BUS_DEFAULT

#define SRF02_BUS_DEFAULT   PX4_I2C_BUS_EXPANSION

Definition at line 73 of file srf02.cpp.

Referenced by srf02_main(), and srf02::usage().

SRF02_CONVERSION_INTERVAL

#define SRF02_CONVERSION_INTERVAL   100000

Definition at line 86 of file srf02.cpp.

Referenced by SRF02::init().

SRF02_DEVICE_PATH

#define SRF02_DEVICE_PATH   "/dev/srf02"

Definition at line 74 of file srf02.cpp.

Referenced by srf02::reset(), srf02::start_bus(), and srf02::test().

SRF02_INTERVAL_BETWEEN_SUCCESIVE_FIRES

#define SRF02_INTERVAL_BETWEEN_SUCCESIVE_FIRES   100000

Definition at line 87 of file srf02.cpp.

Referenced by SRF02::init().

SRF02_MAX_DISTANCE

#define SRF02_MAX_DISTANCE   (7.65f)

Definition at line 84 of file srf02.cpp.

SRF02_MIN_DISTANCE

#define SRF02_MIN_DISTANCE   (0.20f)

Definition at line 83 of file srf02.cpp.

SRF02_SET_ADDRESS_0

#define SRF02_SET_ADDRESS_0   0xA0

Definition at line 78 of file srf02.cpp.

SRF02_SET_ADDRESS_1

#define SRF02_SET_ADDRESS_1   0xAA

Definition at line 79 of file srf02.cpp.

SRF02_SET_ADDRESS_2

#define SRF02_SET_ADDRESS_2   0xA5

Definition at line 80 of file srf02.cpp.

SRF02_TAKE_RANGE_REG

#define SRF02_TAKE_RANGE_REG   0x51

Definition at line 77 of file srf02.cpp.

Referenced by SRF02::measure().

Function Documentation

srf02_main()

__EXPORT int srf02_main	(	int	argc,
		char *	argv[]
	)

Driver 'main' command.

Definition at line 780 of file srf02.cpp.

References srf02::reset(), SRF02_BUS_DEFAULT, srf02::start(), srf02::start_bus(), srf02::status(), srf02::stop(), srf02::test(), and srf02::usage().

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