#include <CM8JL65.hpp>

Inheritance diagram for CM8JL65:

Collaboration diagram for CM8JL65:

Public Member Functions
	CM8JL65 (const char *port, uint8_t rotation=distance_sensor_s::ROTATION_DOWNWARD_FACING)
	Default Constructor. More...

virtual	~CM8JL65 () override
	Virtual destructor. More...

int	init ()
	Method : init() This method initializes the general driver for a range finder sensor. More...

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

Private Types
enum	PARSE_STATE { PARSE_STATE::WAITING_FRAME = 0, PARSE_STATE::DIGIT_1, PARSE_STATE::DIGIT_2, PARSE_STATE::MSB_DATA, PARSE_STATE::LSB_DATA, PARSE_STATE::CHECKSUM }

Private Member Functions
uint16_t	crc16_calc (const unsigned char *data_frame, uint8_t crc16_length)
	Calculates the 16 byte crc value for the data frame. More...

int	collect ()
	Reads data from serial UART and places it into a buffer. More...

int	data_parser (const uint8_t check_byte, uint8_t parserbuf[PARSER_BUF_LENGTH], PARSE_STATE &state, uint16_t &crc16, int &distance)

int	open_serial_port (const speed_t speed=B115200)
	Opens and configures the UART serial communications port. More...

void	Run () override
	Perform a reading 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 ()
	Stops the automatic measurement state machine. More...

Private Attributes
PX4Rangefinder	_px4_rangefinder

char	_port [20] {}

unsigned char	_frame_data [PARSER_BUF_LENGTH] {START_FRAME_DIGIT1, START_FRAME_DIGIT2, 0, 0}

int	_file_descriptor {-1}

uint8_t	_linebuf [25] {}

uint16_t	_crc16 {0}

PARSE_STATE	_parse_state {PARSE_STATE::WAITING_FRAME}

perf_counter_t	_comms_errors {perf_alloc(PC_COUNT, MODULE_NAME": com_err")}

perf_counter_t	_sample_perf {perf_alloc(PC_ELAPSED, MODULE_NAME": read")}

Detailed Description

Definition at line 75 of file CM8JL65.hpp.

Member Enumeration Documentation

◆ PARSE_STATE

enum CM8JL65::PARSE_STATE

strongprivate

Enumerator
WAITING_FRAME
DIGIT_1
DIGIT_2
MSB_DATA
LSB_DATA
CHECKSUM

Definition at line 101 of file CM8JL65.hpp.

Constructor & Destructor Documentation

◆ CM8JL65()

CM8JL65::CM8JL65	(	const char *	port,
		uint8_t	rotation = `distance_sensor_s::ROTATION_DOWNWARD_FACING`
	)

Default Constructor.

Parameters

port	The serial port to open for communicating with the sensor.
rotation	The sensor rotation relative to the vehicle body.

Definition at line 86 of file CM8JL65.cpp.

References _port, _px4_rangefinder, f(), PX4Rangefinder::set_fov(), PX4Rangefinder::set_max_distance(), and PX4Rangefinder::set_min_distance().

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◆ ~CM8JL65()

CM8JL65::~CM8JL65 ( )

overridevirtual

Virtual destructor.

Definition at line 102 of file CM8JL65.cpp.

References _comms_errors, _sample_perf, perf_free(), and stop().

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Member Function Documentation

◆ collect()

int CM8JL65::collect ( )

private

Reads data from serial UART and places it into a buffer.

Definition at line 132 of file CM8JL65.cpp.

References _comms_errors, _crc16, _file_descriptor, _frame_data, _linebuf, _parse_state, _px4_rangefinder, _sample_perf, data_parser(), f(), hrt_absolute_time(), hrt_abstime, OK, perf_begin(), perf_count(), perf_end(), read(), START_FRAME_DIGIT1, PX4Rangefinder::update(), and WAITING_FRAME.

Referenced by Run().

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◆ crc16_calc()

uint16_t CM8JL65::crc16_calc	(	const unsigned char *	data_frame,
		uint8_t	crc16_length
	)

private

Calculates the 16 byte crc value for the data frame.

Parameters

data_frame	The data frame to compute a checksum for.
crc16_length	The length of the data frame.

Definition at line 112 of file CM8JL65.cpp.

References crc16(), crc_lsb_vector, and crc_msb_vector.

Referenced by data_parser().

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◆ data_parser()

int CM8JL65::data_parser	(	const uint8_t	check_byte,
		uint8_t	parserbuf[PARSER_BUF_LENGTH],
		PARSE_STATE &	state,
		uint16_t &	crc16,
		int &	distance
	)

private

Definition at line 190 of file CM8JL65.cpp.

References CHECKSUM, crc16_calc(), DIGIT_1, DIGIT_2, DISTANCE_LSB_POS, DISTANCE_MSB_POS, LSB_DATA, MSB_DATA, START_FRAME_DIGIT1, START_FRAME_DIGIT2, and WAITING_FRAME.

Referenced by collect().

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◆ init()

int CM8JL65::init ( )

Method : init() This method initializes the general driver for a range finder sensor.

Definition at line 254 of file CM8JL65.cpp.

References start().

Referenced by cm8jl65::start().

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◆ open_serial_port()

int CM8JL65::open_serial_port ( const speed_t speed = B115200 )

private

Opens and configures the UART serial communications port.

Parameters

speed The baudrate (speed) to configure the serial UART port.

Definition at line 262 of file CM8JL65.cpp.

References _file_descriptor, and _port.

Referenced by Run().

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◆ print_info()

void CM8JL65::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 324 of file CM8JL65.cpp.

References _comms_errors, _px4_rangefinder, _sample_perf, perf_print_counter(), and PX4Rangefinder::print_status().

Referenced by cm8jl65::status().

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◆ Run()

void CM8JL65::Run ( )

overrideprivate

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

Definition at line 333 of file CM8JL65.cpp.

References collect(), and open_serial_port().

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◆ start()

void CM8JL65::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 343 of file CM8JL65.cpp.

References CM8JL65_MEASURE_INTERVAL.

Referenced by init().

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◆ stop()

void CM8JL65::stop ( )

private

Stops the automatic measurement state machine.

Definition at line 352 of file CM8JL65.cpp.

References _file_descriptor.

Referenced by ~CM8JL65().

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Member Data Documentation

◆ _comms_errors

perf_counter_t CM8JL65::_comms_errors {perf_alloc(PC_COUNT, MODULE_NAME": com_err")}

private

Definition at line 164 of file CM8JL65.hpp.

Referenced by collect(), print_info(), and ~CM8JL65().

◆ _crc16

uint16_t CM8JL65::_crc16 {0}

private

Definition at line 160 of file CM8JL65.hpp.

Referenced by collect().

◆ _file_descriptor

int CM8JL65::_file_descriptor {-1}

private

Definition at line 156 of file CM8JL65.hpp.

Referenced by collect(), open_serial_port(), and stop().

◆ _frame_data

unsigned char CM8JL65::_frame_data[PARSER_BUF_LENGTH] {START_FRAME_DIGIT1, START_FRAME_DIGIT2, 0, 0}

private

Definition at line 154 of file CM8JL65.hpp.

Referenced by collect().

◆ _linebuf

uint8_t CM8JL65::_linebuf[25] {}

private

Definition at line 158 of file CM8JL65.hpp.

Referenced by collect().

◆ _parse_state

PARSE_STATE CM8JL65::_parse_state {PARSE_STATE::WAITING_FRAME}

private

Definition at line 162 of file CM8JL65.hpp.

Referenced by collect().

◆ _port

char CM8JL65::_port[20] {}

private

Definition at line 152 of file CM8JL65.hpp.

Referenced by CM8JL65(), and open_serial_port().

◆ _px4_rangefinder

PX4Rangefinder CM8JL65::_px4_rangefinder

private

Definition at line 150 of file CM8JL65.hpp.

Referenced by CM8JL65(), collect(), and print_info().

◆ _sample_perf

perf_counter_t CM8JL65::_sample_perf {perf_alloc(PC_ELAPSED, MODULE_NAME": read")}

private

Definition at line 165 of file CM8JL65.hpp.

Referenced by collect(), print_info(), and ~CM8JL65().

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

src/drivers/distance_sensor/cm8jl65/CM8JL65.hpp
src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ PARSE_STATE

Constructor & Destructor Documentation

◆ CM8JL65()

◆ ~CM8JL65()

Member Function Documentation

◆ collect()

◆ crc16_calc()

◆ data_parser()

◆ init()

◆ open_serial_port()

◆ print_info()

◆ Run()

◆ start()

◆ stop()

Member Data Documentation

◆ _comms_errors

◆ _crc16

◆ _file_descriptor

◆ _frame_data

◆ _linebuf

◆ _parse_state

◆ _port

◆ _px4_rangefinder

◆ _sample_perf