Inheritance diagram for MappyDot:

Collaboration diagram for MappyDot:

Public Member Functions
	MappyDot (const int bus=MAPPYDOT_BUS_DEFAULT)

virtual	~MappyDot ()

virtual int	init () override
	Initializes the sensors, advertises uORB topic, sets device addresses. More...

void	print_info ()
	Prints basic diagnostic information about the driver. More...

void	start ()
	Initializes the automatic measurement state machine and starts the driver. More...

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

Private Member Functions
int	probe ()
	Sends an i2c measure command to check for presence of a sensor. More...

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

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

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

	DEFINE_PARAMETERS ((ParamInt< px4::params::SENS_EN_MPDT >) _p_sensor_enabled,(ParamInt< px4::params::SENS_MPDT0_ROT >) _p_sensor0_rot,(ParamInt< px4::params::SENS_MPDT1_ROT >) _p_sensor1_rot,(ParamInt< px4::params::SENS_MPDT2_ROT >) _p_sensor2_rot,(ParamInt< px4::params::SENS_MPDT3_ROT >) _p_sensor3_rot,(ParamInt< px4::params::SENS_MPDT4_ROT >) _p_sensor4_rot,(ParamInt< px4::params::SENS_MPDT5_ROT >) _p_sensor5_rot,(ParamInt< px4::params::SENS_MPDT6_ROT >) _p_sensor6_rot,(ParamInt< px4::params::SENS_MPDT7_ROT >) _p_sensor7_rot,(ParamInt< px4::params::SENS_MPDT8_ROT >) _p_sensor8_rot,(ParamInt< px4::params::SENS_MPDT9_ROT >) _p_sensor9_rot,(ParamInt< px4::params::SENS_MPDT10_ROT >) _p_sensor10_rot,(ParamInt< px4::params::SENS_MPDT11_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 {}

size_t	_sensor_count {0}

orb_advert_t	_distance_sensor_topic {nullptr}

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

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

Detailed Description

Definition at line 146 of file MappyDot.cpp.

Constructor & Destructor Documentation

◆ MappyDot()

MappyDot::MappyDot ( const int bus = MAPPYDOT_BUS_DEFAULT )

Definition at line 225 of file MappyDot.cpp.

Referenced by mappydot::start_bus().

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◆ ~MappyDot()

MappyDot::~MappyDot ( )

virtual

Definition at line 231 of file MappyDot.cpp.

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

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Member Function Documentation

◆ collect()

int MappyDot::collect ( )

private

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

Definition at line 247 of file MappyDot.cpp.

References _comms_errors, _distance_sensor_topic, _sample_perf, _sensor_addresses, _sensor_count, _sensor_rotations, distance_sensor_s::current_distance, f(), hrt_absolute_time(), MAPPYDOT_MAX_DISTANCE, MAPPYDOT_MIN_DISTANCE, ORB_ID, ORB_PRIO_DEFAULT, orb_publish_auto(), perf_begin(), perf_count(), and perf_end().

Referenced by Run().

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◆ DEFINE_PARAMETERS()

MappyDot::DEFINE_PARAMETERS	(	(ParamInt< px4::params::SENS_EN_MPDT >)	_p_sensor_enabled,
		(ParamInt< px4::params::SENS_MPDT0_ROT >)	_p_sensor0_rot,
		(ParamInt< px4::params::SENS_MPDT1_ROT >)	_p_sensor1_rot,
		(ParamInt< px4::params::SENS_MPDT2_ROT >)	_p_sensor2_rot,
		(ParamInt< px4::params::SENS_MPDT3_ROT >)	_p_sensor3_rot,
		(ParamInt< px4::params::SENS_MPDT4_ROT >)	_p_sensor4_rot,
		(ParamInt< px4::params::SENS_MPDT5_ROT >)	_p_sensor5_rot,
		(ParamInt< px4::params::SENS_MPDT6_ROT >)	_p_sensor6_rot,
		(ParamInt< px4::params::SENS_MPDT7_ROT >)	_p_sensor7_rot,
		(ParamInt< px4::params::SENS_MPDT8_ROT >)	_p_sensor8_rot,
		(ParamInt< px4::params::SENS_MPDT9_ROT >)	_p_sensor9_rot,
		(ParamInt< px4::params::SENS_MPDT10_ROT >)	_p_sensor10_rot,
		(ParamInt< px4::params::SENS_MPDT11_ROT >)	_p_sensor11_rot
	)

private

◆ get_sensor_rotation()

int MappyDot::get_sensor_rotation ( const size_t index )

private

Gets the current sensor rotation value.

Definition at line 292 of file MappyDot.cpp.

Referenced by init().

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◆ init()

int MappyDot::init ( )

overridevirtual

Initializes the sensors, advertises uORB topic, sets device addresses.

Definition at line 324 of file MappyDot.cpp.

References _sensor_addresses, _sensor_count, _sensor_rotations, get_sensor_rotation(), ToneAlarmInterface::init(), MAPPYDOT_BASE_ADDR, MAPPYDOT_LONG_RANGE, MAPPYDOT_MEASUREMENT_BUDGET, MAPPYDOT_MEASUREMENT_INTERVAL_USEC, MAPPYDOT_RANGING_MEASUREMENT_MODE, MAPPYDOT_SET_LED_THRESHOLD_DISTANCE_IN_MM, probe(), and RANGE_FINDER_MAX_SENSORS.

Referenced by mappydot::start_bus().

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◆ print_info()

void MappyDot::print_info ( )

Prints basic diagnostic information about the driver.

Definition at line 401 of file MappyDot.cpp.

References _comms_errors, _sample_perf, and perf_print_counter().

Referenced by mappydot::status().

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◆ probe()

int MappyDot::probe ( )

private

Sends an i2c measure command to check for presence of a sensor.

Definition at line 392 of file MappyDot.cpp.

References MAPPYDOT_PERFORM_SINGLE_RANGE.

Referenced by init().

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◆ Run()

void MappyDot::Run ( )

overrideprivate

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

Definition at line 408 of file MappyDot.cpp.

References collect(), and start().

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◆ start()

void MappyDot::start ( )

Initializes the automatic measurement state machine and starts the driver.

Definition at line 420 of file MappyDot.cpp.

References MAPPYDOT_MEASUREMENT_INTERVAL_USEC.

Referenced by Run(), and mappydot::start_bus().

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◆ stop()

void MappyDot::stop ( )

Stop the automatic measurement state machine.

Definition at line 430 of file MappyDot.cpp.

Referenced by ~MappyDot().

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Member Data Documentation

◆ _comms_errors

perf_counter_t MappyDot::_comms_errors {perf_alloc(PC_COUNT, "mappydot_comms_err")}

private

Definition at line 204 of file MappyDot.cpp.

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

◆ _distance_sensor_topic

orb_advert_t MappyDot::_distance_sensor_topic {nullptr}

private

Definition at line 202 of file MappyDot.cpp.

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

◆ _sample_perf

perf_counter_t MappyDot::_sample_perf {perf_alloc(PC_ELAPSED, "mappydot_sample_perf")}

private

Definition at line 205 of file MappyDot.cpp.

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

◆ _sensor_addresses

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

private

Definition at line 197 of file MappyDot.cpp.

Referenced by collect(), and init().

◆ _sensor_count

size_t MappyDot::_sensor_count {0}

private

Definition at line 200 of file MappyDot.cpp.

Referenced by collect(), and init().

◆ _sensor_rotations

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

private

Definition at line 198 of file MappyDot.cpp.

Referenced by collect(), and init().

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

src/drivers/distance_sensor/mappydot/MappyDot.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MappyDot()

◆ ~MappyDot()

Member Function Documentation

◆ collect()

◆ DEFINE_PARAMETERS()

◆ get_sensor_rotation()

◆ init()

◆ print_info()

◆ probe()

◆ Run()

◆ start()

◆ stop()

Member Data Documentation

◆ _comms_errors

◆ _distance_sensor_topic

◆ _sample_perf

◆ _sensor_addresses

◆ _sensor_count

◆ _sensor_rotations