#include <LidarLiteI2C.h>

Inheritance diagram for LidarLiteI2C:

Collaboration diagram for LidarLiteI2C:

Public Member Functions
	LidarLiteI2C (const int bus, const uint8_t rotation=distance_sensor_s::ROTATION_DOWNWARD_FACING, const int address=LL40LS_BASEADDR)

virtual	~LidarLiteI2C ()

int	init () override

void	print_registers () override
	Print sensor registers to console for debugging. More...

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

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

Public Member Functions inherited from LidarLite
	LidarLite (const uint8_t rotation=distance_sensor_s::ROTATION_DOWNWARD_FACING)

virtual	~LidarLite ()

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

Protected Member Functions
int	measure () override

int	reset_sensor () override
	Reset the sensor to power on defaults plus additional configurations. More...

int	probe () override

int	read_reg (const uint8_t reg, uint8_t &val)

int	write_reg (const uint8_t reg, const uint8_t &val)

Protected Member Functions inherited from LidarLite
uint32_t	get_measure_interval () const

Private Member Functions
int	collect () override

int	lidar_transfer (const uint8_t send, const unsigned send_len, uint8_t recv, const unsigned recv_len)
	LidarLite specific transfer function. More...

int	probe_address (const 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...

Private Attributes
bool	_collect_phase {false}

bool	_is_v3hp {false}

bool	_pause_measurements {false}

uint8_t	_hw_version {0}

uint8_t	_sw_version {0}

uint16_t	_unit_id {0}

uint16_t	_zero_counter {0}

uint64_t	_acquire_time_usec {0}

Additional Inherited Members
Protected Attributes inherited from LidarLite
PX4Rangefinder	_px4_rangefinder

perf_counter_t	_comms_errors {perf_alloc(PC_COUNT, "ll40ls: comms errors")}

perf_counter_t	_sample_perf {perf_alloc(PC_ELAPSED, "ll40ls: read")}

perf_counter_t	_sensor_resets {perf_alloc(PC_COUNT, "ll40ls: resets")}

perf_counter_t	_sensor_zero_resets {perf_alloc(PC_COUNT, "ll40ls: zero resets")}

Detailed Description

Definition at line 81 of file LidarLiteI2C.h.

Constructor & Destructor Documentation

◆ LidarLiteI2C()

LidarLiteI2C::LidarLiteI2C	(	const int	bus,
		const uint8_t	rotation = `distance_sensor_s::ROTATION_DOWNWARD_FACING`,
		const int	address = `LL40LS_BASEADDR`
	)

Definition at line 44 of file LidarLiteI2C.cpp.

◆ ~LidarLiteI2C()

LidarLiteI2C::~LidarLiteI2C ( )

virtual

Definition at line 53 of file LidarLiteI2C.cpp.

References stop().

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Member Function Documentation

◆ collect()

int LidarLiteI2C::collect ( )

overrideprivatevirtual

Implements LidarLite.

Definition at line 272 of file LidarLiteI2C.cpp.

References _acquire_time_usec, LidarLite::_comms_errors, _is_v3hp, LidarLite::_px4_rangefinder, LidarLite::_sample_perf, LidarLite::_sensor_resets, LidarLite::_sensor_zero_resets, _zero_counter, DEVICE_DEBUG, f(), hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), lidar_transfer(), LL40LS_AUTO_INCREMENT, LL40LS_CONVERSION_TIMEOUT, LL40LS_DISTHIGH_REG, LL40LS_MIN_DISTANCE, LL40LS_PEAK_STRENGTH_HIGH, LL40LS_PEAK_STRENGTH_LOW, LL40LS_PEAK_STRENGTH_REG, LL40LS_SIGNAL_STRENGTH_LOW, LL40LS_SIGNAL_STRENGTH_MAX_V3HP, LL40LS_SIGNAL_STRENGTH_MIN_V3HP, LL40LS_SIGNAL_STRENGTH_REG, math::max(), OK, perf_begin(), perf_count(), perf_end(), perf_event_count(), reset_sensor(), and PX4Rangefinder::update().

Referenced by Run().

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◆ init()

int LidarLiteI2C::init ( )

overridevirtual

Implements LidarLite.

Definition at line 59 of file LidarLiteI2C.cpp.

References ToneAlarmInterface::init().

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◆ lidar_transfer()

int LidarLiteI2C::lidar_transfer	(	const uint8_t *	send,
		const unsigned	send_len,
		uint8_t *	recv,
		const unsigned	recv_len
	)

private

LidarLite specific transfer function.

This is needed to avoid a stop transition with SCL high

Parameters

send	Pointer to bytes to send.
send_len	Number of bytes to send.
recv	Pointer to buffer for bytes received.
recv_len	Number of bytes to receive.

Returns: OK if the transfer was successful, -errno otherwise.

Definition at line 83 of file LidarLiteI2C.cpp.

Referenced by collect(), print_registers(), and read_reg().

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◆ measure()

int LidarLiteI2C::measure ( )

overrideprotectedvirtual

Implements LidarLite.

Definition at line 168 of file LidarLiteI2C.cpp.

References _acquire_time_usec, LidarLite::_comms_errors, _pause_measurements, LidarLite::_sensor_resets, hrt_absolute_time(), LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE, OK, perf_count(), perf_event_count(), reset_sensor(), and write_reg().

Referenced by Run().

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◆ print_registers()

void LidarLiteI2C::print_registers ( )

overridevirtual

Print sensor registers to console for debugging.

Reimplemented from LidarLite.

Definition at line 244 of file LidarLiteI2C.cpp.

References _pause_measurements, lidar_transfer(), and OK.

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◆ probe()

int LidarLiteI2C::probe ( )

overrideprotected

The probing is divided into different cases. One to detect v2, one for v3 and v1 and one for v3HP. The reason for this is that registers are not consistent between different versions. The v3HP doesn't have the HW VERSION (or at least no version is specified), v1 and v3 don't have the unit id register while v2 has both. It would be better if we had a proper WHOAMI register.

Definition at line 101 of file LidarLiteI2C.cpp.

References _hw_version, _is_v3hp, LidarLite::_px4_rangefinder, _sw_version, _unit_id, LL40LS_BASEADDR, LL40LS_BASEADDR_OLD, LL40LS_HW_VERSION, LL40LS_MAX_DISTANCE_V2, LL40LS_SW_VERSION, LL40LS_UNIT_ID_HIGH, LL40LS_UNIT_ID_LOW, OK, read_reg(), and PX4Rangefinder::set_max_distance().

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◆ probe_address()

int LidarLiteI2C::probe_address ( const 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_reg()

int LidarLiteI2C::read_reg	(	const uint8_t	reg,
		uint8_t &	val
	)

protected

Definition at line 70 of file LidarLiteI2C.cpp.

References lidar_transfer().

Referenced by probe(), and reset_sensor().

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◆ reset_sensor()

int LidarLiteI2C::reset_sensor ( )

overrideprotectedvirtual

Reset the sensor to power on defaults plus additional configurations.

Reimplemented from LidarLite.

Definition at line 202 of file LidarLiteI2C.cpp.

References LL40LS_MEASURE_REG, LL40LS_MSRREG_RESET, LL40LS_SIG_COUNT_VAL_DEFAULT, LL40LS_SIG_COUNT_VAL_MAX, LL40LS_SIG_COUNT_VAL_REG, OK, read_reg(), and write_reg().

Referenced by collect(), and measure().

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◆ Run()

void LidarLiteI2C::Run ( )

overrideprivate

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

Definition at line 448 of file LidarLiteI2C.cpp.

References _acquire_time_usec, _collect_phase, collect(), LidarLite::get_measure_interval(), hrt_elapsed_time(), LL40LS_CONVERSION_INTERVAL, LL40LS_CONVERSION_TIMEOUT, measure(), and OK.

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◆ start()

void LidarLiteI2C::start ( )

overridevirtual

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.

Implements LidarLite.

Definition at line 434 of file LidarLiteI2C.cpp.

References _collect_phase.

◆ stop()

void LidarLiteI2C::stop ( )

overridevirtual

Stop the automatic measurement state machine.

Implements LidarLite.

Definition at line 443 of file LidarLiteI2C.cpp.

Referenced by ~LidarLiteI2C().

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◆ write_reg()

int LidarLiteI2C::write_reg	(	const uint8_t	reg,
		const uint8_t &	val
	)

protected

Definition at line 76 of file LidarLiteI2C.cpp.

Referenced by measure(), and reset_sensor().

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Member Data Documentation

◆ _acquire_time_usec

uint64_t LidarLiteI2C::_acquire_time_usec {0}

private

Definition at line 165 of file LidarLiteI2C.h.

Referenced by collect(), measure(), and Run().

◆ _collect_phase

bool LidarLiteI2C::_collect_phase {false}

private

Definition at line 155 of file LidarLiteI2C.h.

Referenced by Run(), and start().

◆ _hw_version

uint8_t LidarLiteI2C::_hw_version {0}

private

Definition at line 159 of file LidarLiteI2C.h.

Referenced by probe().

◆ _is_v3hp

bool LidarLiteI2C::_is_v3hp {false}

private

Definition at line 156 of file LidarLiteI2C.h.

Referenced by collect(), and probe().

◆ _pause_measurements

bool LidarLiteI2C::_pause_measurements {false}

private

Definition at line 157 of file LidarLiteI2C.h.

Referenced by measure(), and print_registers().

◆ _sw_version

uint8_t LidarLiteI2C::_sw_version {0}

private

Definition at line 160 of file LidarLiteI2C.h.

Referenced by probe().

◆ _unit_id

uint16_t LidarLiteI2C::_unit_id {0}

private

Definition at line 162 of file LidarLiteI2C.h.

Referenced by probe().

◆ _zero_counter

uint16_t LidarLiteI2C::_zero_counter {0}

private

Definition at line 163 of file LidarLiteI2C.h.

Referenced by collect().

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

src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LidarLiteI2C()

◆ ~LidarLiteI2C()

Member Function Documentation

◆ collect()

◆ init()

◆ lidar_transfer()

◆ measure()

◆ print_registers()

◆ probe()

◆ probe_address()

◆ read_reg()

◆ reset_sensor()

◆ Run()

◆ start()

◆ stop()

◆ write_reg()

Member Data Documentation

◆ _acquire_time_usec

◆ _collect_phase

◆ _hw_version

◆ _is_v3hp

◆ _pause_measurements

◆ _sw_version

◆ _unit_id

◆ _zero_counter