Inheritance diagram for SRF02:

Collaboration diagram for SRF02:

Public Member Functions
	SRF02 (uint8_t rotation=distance_sensor_s::ROTATION_DOWNWARD_FACING, int bus=SRF02_BUS_DEFAULT, int address=SRF02_BASEADDR)

virtual	~SRF02 ()

int	init () override

int	ioctl (device::file_t *filp, int cmd, unsigned long arg) override

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

ssize_t	read (device::file_t filp, char buffer, size_t buflen) override

Protected Member Functions
int	probe () override

Private Member Functions
int	collect ()

int	measure ()

int	probe_address (uint8_t address)
	Test whether the device supported by the driver is present at a specific address. More...

void	Run () override
	Perform a poll 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 ()
	Stop the automatic measurement state machine. More...

Private Attributes
px4::Array< uint8_t, RANGE_FINDER_MAX_SENSORS >	addr_ind

bool	_sensor_ok {false}

bool	_collect_phase {false}

int	_class_instance {-1}

int	_cycling_rate {0}

int	_measure_interval {0}

int	_orb_class_instance {-1}

uint8_t	_cycle_counter {0}

uint8_t	_index_counter {0}

uint8_t	_rotation

float	_max_distance {SRF02_MAX_DISTANCE}

float	_min_distance {SRF02_MIN_DISTANCE}

perf_counter_t	_comms_errors {perf_alloc(PC_COUNT, "srf02_com_err")}

perf_counter_t	_sample_perf {perf_alloc(PC_ELAPSED, "srf02_read")}

orb_advert_t	_distance_sensor_topic {nullptr}

ringbuffer::RingBuffer *	_reports {nullptr}

Detailed Description

Definition at line 89 of file srf02.cpp.

Constructor & Destructor Documentation

◆ SRF02()

SRF02::SRF02	(	uint8_t	rotation = `distance_sensor_s::ROTATION_DOWNWARD_FACING`,
		int	bus = `SRF02_BUS_DEFAULT`,
		int	address = `SRF02_BASEADDR`
	)

Definition at line 173 of file srf02.cpp.

Referenced by srf02::start_bus().

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◆ ~SRF02()

SRF02::~SRF02 ( )

virtual

Definition at line 180 of file srf02.cpp.

References _class_instance, _comms_errors, _reports, _sample_perf, perf_free(), RANGE_FINDER_BASE_DEVICE_PATH, and stop().

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Member Function Documentation

◆ collect()

int SRF02::collect ( )

private

Definition at line 200 of file srf02.cpp.

References _comms_errors, _distance_sensor_topic, _max_distance, _min_distance, _reports, _rotation, _sample_perf, distance_sensor_s::current_distance, f(), hrt_absolute_time(), distance_sensor_s::id, distance_sensor_s::max_distance, distance_sensor_s::min_distance, ORB_ID, orb_publish(), distance_sensor_s::orientation, perf_begin(), perf_count(), perf_end(), distance_sensor_s::signal_quality, distance_sensor_s::timestamp, distance_sensor_s::type, and distance_sensor_s::variance.

Referenced by read(), and Run().

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◆ init()

int SRF02::init ( )

override

Definition at line 245 of file srf02.cpp.

References _class_instance, _cycling_rate, _distance_sensor_topic, _index_counter, _orb_class_instance, _reports, _sensor_ok, addr_ind, counter, ToneAlarmInterface::init(), measure(), OK, orb_advertise_multi(), ORB_ID, ORB_PRIO_LOW, px4::Array< T, N >::push_back(), RANGE_FINDER_BASE_DEVICE_PATH, RANGE_FINDER_MAX_SENSORS, px4::Array< T, N >::size(), SRF02_BASEADDR, SRF02_CONVERSION_INTERVAL, and SRF02_INTERVAL_BETWEEN_SUCCESIVE_FIRES.

Referenced by srf02::start_bus().

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◆ ioctl()

int SRF02::ioctl	(	device::file_t *	filp,
		int	cmd,
		unsigned long	arg
	)

override

Definition at line 318 of file srf02.cpp.

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

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

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◆ measure()

int SRF02::measure ( )

private

Definition at line 379 of file srf02.cpp.

References _comms_errors, perf_count(), and SRF02_TAKE_RANGE_REG.

Referenced by init(), probe(), read(), and Run().

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◆ print_info()

void SRF02::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 398 of file srf02.cpp.

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

Referenced by srf02::status().

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◆ probe()

int SRF02::probe ( )

overrideprotected

Definition at line 407 of file srf02.cpp.

References measure().

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◆ probe_address()

int SRF02::probe_address ( uint8_t address )

private

Test whether the device supported by the driver is present at a specific address.

Parameters

address The I2C bus address to probe.

Returns: True if the device is present.

◆ read()

ssize_t SRF02::read	(	device::file_t *	filp,
		char *	buffer,
		size_t	buflen
	)

override

Definition at line 413 of file srf02.cpp.

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

Referenced by srf02::test().

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◆ Run()

void SRF02::Run ( )

overrideprivate

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

Definition at line 474 of file srf02.cpp.

References _collect_phase, _cycle_counter, _cycling_rate, _index_counter, _measure_interval, addr_ind, collect(), measure(), OK, px4::Array< T, N >::size(), and start().

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◆ start()

void SRF02::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 525 of file srf02.cpp.

References _collect_phase, and _reports.

Referenced by ioctl(), and Run().

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◆ stop()

void SRF02::stop ( )

private

Stop the automatic measurement state machine.

Definition at line 536 of file srf02.cpp.

Referenced by ~SRF02().

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Member Data Documentation

◆ _class_instance

int SRF02::_class_instance {-1}

private

Definition at line 148 of file srf02.cpp.

Referenced by init(), and ~SRF02().

◆ _collect_phase

bool SRF02::_collect_phase {false}

private

Definition at line 146 of file srf02.cpp.

Referenced by Run(), and start().

◆ _comms_errors

perf_counter_t SRF02::_comms_errors {perf_alloc(PC_COUNT, "srf02_com_err")}

private

Definition at line 160 of file srf02.cpp.

Referenced by collect(), measure(), print_info(), and ~SRF02().

◆ _cycle_counter

uint8_t SRF02::_cycle_counter {0}

private

Definition at line 153 of file srf02.cpp.

Referenced by Run().

◆ _cycling_rate

int SRF02::_cycling_rate {0}

private

Definition at line 149 of file srf02.cpp.

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

◆ _distance_sensor_topic

orb_advert_t SRF02::_distance_sensor_topic {nullptr}

private

Definition at line 163 of file srf02.cpp.

Referenced by collect(), and init().

◆ _index_counter

uint8_t SRF02::_index_counter {0}

private

Definition at line 154 of file srf02.cpp.

Referenced by init(), and Run().

◆ _max_distance

float SRF02::_max_distance {SRF02_MAX_DISTANCE}

private

Definition at line 157 of file srf02.cpp.

Referenced by collect().

◆ _measure_interval

int SRF02::_measure_interval {0}

private

Definition at line 150 of file srf02.cpp.

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

◆ _min_distance

float SRF02::_min_distance {SRF02_MIN_DISTANCE}

private

Definition at line 158 of file srf02.cpp.

Referenced by collect().

◆ _orb_class_instance

int SRF02::_orb_class_instance {-1}

private

Definition at line 151 of file srf02.cpp.

Referenced by init().

◆ _reports

ringbuffer::RingBuffer* SRF02::_reports {nullptr}

private

Definition at line 165 of file srf02.cpp.

Referenced by collect(), init(), print_info(), read(), start(), and ~SRF02().

◆ _rotation

uint8_t SRF02::_rotation

private

Definition at line 155 of file srf02.cpp.

Referenced by collect().

◆ _sample_perf

perf_counter_t SRF02::_sample_perf {perf_alloc(PC_ELAPSED, "srf02_read")}

private

Definition at line 161 of file srf02.cpp.

Referenced by collect(), print_info(), and ~SRF02().

◆ _sensor_ok

bool SRF02::_sensor_ok {false}

private

Definition at line 145 of file srf02.cpp.

Referenced by init().

◆ addr_ind

px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> SRF02::addr_ind

private

Definition at line 143 of file srf02.cpp.

Referenced by init(), and Run().

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

src/drivers/distance_sensor/srf02/srf02.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SRF02()

◆ ~SRF02()

Member Function Documentation

◆ collect()

◆ init()

◆ ioctl()

◆ measure()

◆ print_info()

◆ probe()

◆ probe_address()

◆ read()

◆ Run()

◆ start()

◆ stop()

Member Data Documentation

◆ _class_instance

◆ _collect_phase

◆ _comms_errors

◆ _cycle_counter

◆ _cycling_rate

◆ _distance_sensor_topic

◆ _index_counter

◆ _max_distance

◆ _measure_interval

◆ _min_distance

◆ _orb_class_instance

◆ _reports

◆ _rotation

◆ _sample_perf

◆ _sensor_ok

◆ addr_ind