Inheritance diagram for MB12XX:

Collaboration diagram for MB12XX:

Public Member Functions
	MB12XX (const int bus=MB12XX_BUS_DEFAULT)

virtual	~MB12XX ()

virtual int	init () override

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

int	set_address (const uint8_t address=MB12XX_BASE_ADDR)
	Sets a new device address. More...

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

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

Private Member Functions
int	collect ()
	Collects the most recent sensor measurement data from the i2c bus. More...

int	get_sensor_rotation (const size_t index)
	Gets the current sensor rotation value. More...

int	measure ()
	Sends an i2c measure command to start the next sonar ping. More...

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

	DEFINE_PARAMETERS ((ParamInt< px4::params::SENS_EN_MB12XX >) _p_sensor_enabled,(ParamInt< px4::params::SENS_MB12_0_ROT >) _p_sensor0_rot,(ParamInt< px4::params::SENS_MB12_1_ROT >) _p_sensor1_rot,(ParamInt< px4::params::SENS_MB12_2_ROT >) _p_sensor2_rot,(ParamInt< px4::params::SENS_MB12_3_ROT >) _p_sensor3_rot,(ParamInt< px4::params::SENS_MB12_4_ROT >) _p_sensor4_rot,(ParamInt< px4::params::SENS_MB12_5_ROT >) _p_sensor5_rot,(ParamInt< px4::params::SENS_MB12_6_ROT >) _p_sensor6_rot,(ParamInt< px4::params::SENS_MB12_7_ROT >) _p_sensor7_rot,(ParamInt< px4::params::SENS_MB12_8_ROT >) _p_sensor8_rot,(ParamInt< px4::params::SENS_MB12_9_ROT >) _p_sensor9_rot,(ParamInt< px4::params::SENS_MB12_10_ROT >) _p_sensor10_rot,(ParamInt< px4::params::SENS_MB12_11_ROT >) _p_sensor11_rot)

Private Attributes
px4::Array< uint8_t, RANGE_FINDER_MAX_SENSORS >	_sensor_addresses {}

px4::Array< uint8_t, RANGE_FINDER_MAX_SENSORS >	_sensor_rotations {}

int	_measure_interval {MB12XX_MEASURE_INTERVAL}

int	_orb_class_instance {-1}

size_t	_sensor_index {0}

size_t	_sensor_count {0}

orb_advert_t	_distance_sensor_topic {nullptr}

perf_counter_t	_comms_error {perf_alloc(PC_ELAPSED, "mb12xx_comms_error")}

perf_counter_t	_sample_perf {perf_alloc(PC_COUNT, "mb12xx_sample_perf")}

Detailed Description

Definition at line 91 of file mb12xx.cpp.

Constructor & Destructor Documentation

◆ MB12XX()

MB12XX::MB12XX ( const int bus = MB12XX_BUS_DEFAULT )

Definition at line 181 of file mb12xx.cpp.

Referenced by mb12xx::start_bus().

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◆ ~MB12XX()

MB12XX::~MB12XX ( )

virtual

Definition at line 188 of file mb12xx.cpp.

References _comms_error, _distance_sensor_topic, _sample_perf, orb_unadvertise(), perf_free(), and stop().

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Member Function Documentation

◆ collect()

int MB12XX::collect ( )

private

Collects the most recent sensor measurement data from the i2c bus.

Definition at line 204 of file mb12xx.cpp.

References _comms_error, _distance_sensor_topic, _sample_perf, _sensor_addresses, _sensor_count, _sensor_index, _sensor_rotations, distance_sensor_s::current_distance, f(), hrt_absolute_time(), distance_sensor_s::id, distance_sensor_s::max_distance, MB12XX_MAX_DISTANCE, MB12XX_MIN_DISTANCE, measure(), distance_sensor_s::min_distance, ORB_ID, ORB_PRIO_DEFAULT, orb_publish_auto(), 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 Run().

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◆ DEFINE_PARAMETERS()

MB12XX::DEFINE_PARAMETERS	(	(ParamInt< px4::params::SENS_EN_MB12XX >)	_p_sensor_enabled,
		(ParamInt< px4::params::SENS_MB12_0_ROT >)	_p_sensor0_rot,
		(ParamInt< px4::params::SENS_MB12_1_ROT >)	_p_sensor1_rot,
		(ParamInt< px4::params::SENS_MB12_2_ROT >)	_p_sensor2_rot,
		(ParamInt< px4::params::SENS_MB12_3_ROT >)	_p_sensor3_rot,
		(ParamInt< px4::params::SENS_MB12_4_ROT >)	_p_sensor4_rot,
		(ParamInt< px4::params::SENS_MB12_5_ROT >)	_p_sensor5_rot,
		(ParamInt< px4::params::SENS_MB12_6_ROT >)	_p_sensor6_rot,
		(ParamInt< px4::params::SENS_MB12_7_ROT >)	_p_sensor7_rot,
		(ParamInt< px4::params::SENS_MB12_8_ROT >)	_p_sensor8_rot,
		(ParamInt< px4::params::SENS_MB12_9_ROT >)	_p_sensor9_rot,
		(ParamInt< px4::params::SENS_MB12_10_ROT >)	_p_sensor10_rot,
		(ParamInt< px4::params::SENS_MB12_11_ROT >)	_p_sensor11_rot
	)

private

◆ get_sensor_rotation()

int MB12XX::get_sensor_rotation ( const size_t index )

private

Gets the current sensor rotation value.

Definition at line 256 of file mb12xx.cpp.

Referenced by init().

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◆ init()

int MB12XX::init ( )

overridevirtual

Definition at line 288 of file mb12xx.cpp.

References _measure_interval, _sensor_addresses, _sensor_count, _sensor_rotations, get_sensor_rotation(), ToneAlarmInterface::init(), MB12XX_BASE_ADDR, MB12XX_INTERVAL_BETWEEN_SUCCESIVE_FIRES, MB12XX_MIN_ADDR, measure(), OK, and RANGE_FINDER_MAX_SENSORS.

Referenced by mb12xx::start_bus().

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◆ measure()

int MB12XX::measure ( )

private

Sends an i2c measure command to start the next sonar ping.

Definition at line 337 of file mb12xx.cpp.

References MB12XX_TAKE_RANGE_REG.

Referenced by collect(), and init().

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◆ print_info()

void MB12XX::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 347 of file mb12xx.cpp.

References _comms_error, _measure_interval, _sample_perf, _sensor_addresses, _sensor_count, and perf_print_counter().

Referenced by mb12xx::status().

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◆ Run()

void MB12XX::Run ( )

overrideprivate

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

Definition at line 359 of file mb12xx.cpp.

References collect().

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◆ set_address()

int MB12XX::set_address ( const uint8_t address = MB12XX_BASE_ADDR )

Sets a new device address.

Parameters

address The new sensor address to be set: 200-224 even addresses only.

Returns: Returns PX4_OK iff successful, PX4_ERROR otherwise.

Definition at line 368 of file mb12xx.cpp.

References _sensor_count, MB12XX_SET_ADDRESS_1, and MB12XX_SET_ADDRESS_2.

Referenced by mb12xx::set_address().

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◆ start()

void MB12XX::start ( )

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 399 of file mb12xx.cpp.

References _measure_interval.

Referenced by mb12xx::reset(), and mb12xx::start_bus().

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◆ stop()

void MB12XX::stop ( )

Stop the automatic measurement state machine.

Definition at line 409 of file mb12xx.cpp.

Referenced by mb12xx::reset(), and ~MB12XX().

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Member Data Documentation

◆ _comms_error

perf_counter_t MB12XX::_comms_error {perf_alloc(PC_ELAPSED, "mb12xx_comms_error")}

private

Definition at line 161 of file mb12xx.cpp.

Referenced by collect(), print_info(), and ~MB12XX().

◆ _distance_sensor_topic

orb_advert_t MB12XX::_distance_sensor_topic {nullptr}

private

Definition at line 159 of file mb12xx.cpp.

Referenced by collect(), and ~MB12XX().

◆ _measure_interval

int MB12XX::_measure_interval {MB12XX_MEASURE_INTERVAL}

private

Definition at line 152 of file mb12xx.cpp.

Referenced by init(), print_info(), and start().

◆ _orb_class_instance

int MB12XX::_orb_class_instance {-1}

private

Definition at line 153 of file mb12xx.cpp.

◆ _sample_perf

perf_counter_t MB12XX::_sample_perf {perf_alloc(PC_COUNT, "mb12xx_sample_perf")}

private

Definition at line 162 of file mb12xx.cpp.

Referenced by collect(), print_info(), and ~MB12XX().

◆ _sensor_addresses

px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> MB12XX::_sensor_addresses {}

private

Definition at line 149 of file mb12xx.cpp.

Referenced by collect(), init(), and print_info().

◆ _sensor_count

size_t MB12XX::_sensor_count {0}

private

Definition at line 157 of file mb12xx.cpp.

Referenced by collect(), init(), print_info(), and set_address().

◆ _sensor_index

size_t MB12XX::_sensor_index {0}

private

Definition at line 155 of file mb12xx.cpp.

Referenced by collect().

◆ _sensor_rotations

px4::Array<uint8_t, RANGE_FINDER_MAX_SENSORS> MB12XX::_sensor_rotations {}

private

Definition at line 150 of file mb12xx.cpp.

Referenced by collect(), and init().

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

src/drivers/distance_sensor/mb12xx/mb12xx.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MB12XX()

◆ ~MB12XX()

Member Function Documentation

◆ collect()

◆ DEFINE_PARAMETERS()

◆ get_sensor_rotation()

◆ init()

◆ measure()

◆ print_info()

◆ Run()

◆ set_address()

◆ start()

◆ stop()

Member Data Documentation

◆ _comms_error

◆ _distance_sensor_topic

◆ _measure_interval

◆ _orb_class_instance

◆ _sample_perf

◆ _sensor_addresses

◆ _sensor_count

◆ _sensor_index

◆ _sensor_rotations