< for UARTDriver More...

#include <AP_Proximity_RPLidarA2.h>

Inheritance diagram for AP_Proximity_RPLidarA2:

Collaboration diagram for AP_Proximity_RPLidarA2:

Classes
struct	_sensor_health

struct	_sensor_scan

union	PACKED

Public Member Functions
	AP_Proximity_RPLidarA2 (AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager)

void	update (void)

float	distance_max () const

float	distance_min () const

Public Member Functions inherited from AP_Proximity_Backend
	AP_Proximity_Backend (AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state)

virtual	~AP_Proximity_Backend (void)

virtual bool	get_upward_distance (float &distance) const

virtual void	handle_msg (mavlink_message_t *msg)

bool	get_horizontal_distance (float angle_deg, float &distance) const

const Vector2f *	get_boundary_points (uint16_t &num_points) const

bool	get_closest_object (float &angle_deg, float &distance) const

uint8_t	get_object_count () const

bool	get_object_angle_and_distance (uint8_t object_number, float &angle_deg, float &distance) const

bool	get_horizontal_distances (AP_Proximity::Proximity_Distance_Array &prx_dist_array) const

Static Public Member Functions
static bool	detect (AP_SerialManager &serial_manager)

Private Types
enum	rp_state { rp_unknown = 0, rp_resetted, rp_responding, rp_measurements, rp_health }

enum	ResponseType { ResponseType_Descriptor = 0, ResponseType_SCAN, ResponseType_EXPRESS, ResponseType_Health }

Private Member Functions
bool	initialise ()

void	init_sectors ()

void	set_scan_mode ()

void	send_request_for_health ()

void	parse_response_data ()

void	parse_response_descriptor ()

void	get_readings ()

void	reset_rplidar ()

Private Attributes
AP_HAL::UARTDriver *	_uart

uint8_t	_descriptor [7]

char	_rp_systeminfo [63]

bool	_descriptor_data

bool	_information_data

bool	_resetted

bool	_initialised

bool	_sector_initialised

uint8_t	_payload_length

uint8_t	_cnt

uint8_t	_sync_error

uint16_t	_byte_count

enum ResponseType	_response_type
	response from the lidar More...

enum rp_state	_rp_state

uint8_t	_last_sector
	last sector requested More...

uint32_t	_last_request_ms
	system time of last request More...

uint32_t	_last_distance_received_ms
	system time of last distance measurement received from sensor More...

uint32_t	_last_reset_ms

float	_angle_deg_last

float	_distance_m_last

union AP_Proximity_RPLidarA2::PACKED	payload

Additional Inherited Members
Protected Member Functions inherited from AP_Proximity_Backend
void	set_status (AP_Proximity::Proximity_Status status)

bool	convert_angle_to_sector (float angle_degrees, uint8_t &sector) const

void	init_boundary ()

void	update_boundary_for_sector (uint8_t sector)

uint8_t	get_ignore_area_count () const

bool	get_ignore_area (uint8_t index, uint16_t &angle_deg, uint8_t &width_deg) const

bool	get_next_ignore_start_or_end (uint8_t start_or_end, int16_t start_angle, int16_t &ignore_start) const

Protected Attributes inherited from AP_Proximity_Backend
AP_Proximity &	frontend

AP_Proximity::Proximity_State &	state

uint8_t	_num_sectors = PROXIMITY_MAX_DIRECTION

uint16_t	_sector_middle_deg [PROXIMITY_SECTORS_MAX] = {0, 45, 90, 135, 180, 225, 270, 315, 0, 0, 0, 0}

uint8_t	_sector_width_deg [PROXIMITY_SECTORS_MAX] = {45, 45, 45, 45, 45, 45, 45, 45, 0, 0, 0, 0}

float	_angle [PROXIMITY_SECTORS_MAX]

float	_distance [PROXIMITY_SECTORS_MAX]

bool	_distance_valid [PROXIMITY_SECTORS_MAX]

Vector2f	_sector_edge_vector [PROXIMITY_SECTORS_MAX]

Vector2f	_boundary_point [PROXIMITY_SECTORS_MAX]

Detailed Description

< for UARTDriver

Definition at line 37 of file AP_Proximity_RPLidarA2.h.

Member Enumeration Documentation

◆ ResponseType

enum AP_Proximity_RPLidarA2::ResponseType

private

Enumerator
ResponseType_Descriptor
ResponseType_SCAN
ResponseType_EXPRESS
ResponseType_Health

Definition at line 63 of file AP_Proximity_RPLidarA2.h.

◆ rp_state

enum AP_Proximity_RPLidarA2::rp_state

private

Enumerator
rp_unknown
rp_resetted
rp_responding
rp_measurements
rp_health

Definition at line 55 of file AP_Proximity_RPLidarA2.h.

Constructor & Destructor Documentation

◆ AP_Proximity_RPLidarA2()

AP_Proximity_RPLidarA2::AP_Proximity_RPLidarA2	(	AP_Proximity &	_frontend,
		AP_Proximity::Proximity_State &	_state,
		AP_SerialManager &	serial_manager
	)

Definition at line 72 of file AP_Proximity_RPLidarA2.cpp.

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Member Function Documentation

◆ detect()

bool AP_Proximity_RPLidarA2::detect ( AP_SerialManager & serial_manager )

static

Definition at line 87 of file AP_Proximity_RPLidarA2.cpp.

Referenced by AP_Proximity::detect_instance().

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◆ distance_max()

float AP_Proximity_RPLidarA2::distance_max ( ) const

virtual

Implements AP_Proximity_Backend.

Definition at line 119 of file AP_Proximity_RPLidarA2.cpp.

◆ distance_min()

float AP_Proximity_RPLidarA2::distance_min ( ) const

virtual

Implements AP_Proximity_Backend.

Definition at line 125 of file AP_Proximity_RPLidarA2.cpp.

Referenced by parse_response_data().

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◆ get_readings()

void AP_Proximity_RPLidarA2::get_readings ( )

private

Definition at line 245 of file AP_Proximity_RPLidarA2.cpp.

Referenced by update().

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◆ init_sectors()

void AP_Proximity_RPLidarA2::init_sectors ( )

private

Definition at line 162 of file AP_Proximity_RPLidarA2.cpp.

Referenced by initialise().

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◆ initialise()

bool AP_Proximity_RPLidarA2::initialise ( )

private

Definition at line 130 of file AP_Proximity_RPLidarA2.cpp.

Referenced by update().

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◆ parse_response_data()

void AP_Proximity_RPLidarA2::parse_response_data ( )

private

Definition at line 390 of file AP_Proximity_RPLidarA2.cpp.

Referenced by get_readings().

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◆ parse_response_descriptor()

void AP_Proximity_RPLidarA2::parse_response_descriptor ( )

private

Definition at line 362 of file AP_Proximity_RPLidarA2.cpp.

Referenced by get_readings().

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◆ reset_rplidar()

void AP_Proximity_RPLidarA2::reset_rplidar ( )

private

< be aware of extra 63 bytes coming after reset containing FW information

Definition at line 146 of file AP_Proximity_RPLidarA2.cpp.

Referenced by get_readings(), and initialise().

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◆ send_request_for_health()

void AP_Proximity_RPLidarA2::send_request_for_health ( )

private

Definition at line 234 of file AP_Proximity_RPLidarA2.cpp.

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◆ set_scan_mode()

void AP_Proximity_RPLidarA2::set_scan_mode ( )

private

Definition at line 221 of file AP_Proximity_RPLidarA2.cpp.

Referenced by get_readings().

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◆ update()

void AP_Proximity_RPLidarA2::update ( void )

virtual

Implements AP_Proximity_Backend.

Definition at line 93 of file AP_Proximity_RPLidarA2.cpp.

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Member Data Documentation

◆ _angle_deg_last

float AP_Proximity_RPLidarA2::_angle_deg_last

private

Definition at line 106 of file AP_Proximity_RPLidarA2.h.

Referenced by parse_response_data().

◆ _byte_count

uint16_t AP_Proximity_RPLidarA2::_byte_count

private

Definition at line 95 of file AP_Proximity_RPLidarA2.h.

Referenced by AP_Proximity_RPLidarA2(), and get_readings().

◆ _cnt

uint8_t AP_Proximity_RPLidarA2::_cnt

private

Definition at line 93 of file AP_Proximity_RPLidarA2.h.

Referenced by AP_Proximity_RPLidarA2(), and get_readings().

◆ _descriptor

uint8_t AP_Proximity_RPLidarA2::_descriptor[7]

private

Definition at line 84 of file AP_Proximity_RPLidarA2.h.

Referenced by get_readings(), and parse_response_descriptor().

◆ _descriptor_data

bool AP_Proximity_RPLidarA2::_descriptor_data

private

Definition at line 86 of file AP_Proximity_RPLidarA2.h.

Referenced by get_readings().

◆ _distance_m_last

float AP_Proximity_RPLidarA2::_distance_m_last

private

Definition at line 107 of file AP_Proximity_RPLidarA2.h.

Referenced by parse_response_data().

◆ _information_data

bool AP_Proximity_RPLidarA2::_information_data

private

Definition at line 87 of file AP_Proximity_RPLidarA2.h.

Referenced by get_readings().

◆ _initialised

bool AP_Proximity_RPLidarA2::_initialised

private

Definition at line 89 of file AP_Proximity_RPLidarA2.h.

Referenced by initialise(), and update().

◆ _last_distance_received_ms

uint32_t AP_Proximity_RPLidarA2::_last_distance_received_ms

private

system time of last distance measurement received from sensor

Definition at line 102 of file AP_Proximity_RPLidarA2.h.

Referenced by get_readings(), parse_response_data(), parse_response_descriptor(), and update().

◆ _last_request_ms

uint32_t AP_Proximity_RPLidarA2::_last_request_ms

private

system time of last request

Definition at line 101 of file AP_Proximity_RPLidarA2.h.

Referenced by send_request_for_health(), and set_scan_mode().

◆ _last_reset_ms

uint32_t AP_Proximity_RPLidarA2::_last_reset_ms

private

Definition at line 103 of file AP_Proximity_RPLidarA2.h.

Referenced by reset_rplidar().

◆ _last_sector

uint8_t AP_Proximity_RPLidarA2::_last_sector

private

last sector requested

Definition at line 100 of file AP_Proximity_RPLidarA2.h.

Referenced by parse_response_data().

◆ _payload_length

uint8_t AP_Proximity_RPLidarA2::_payload_length

private

Definition at line 92 of file AP_Proximity_RPLidarA2.h.

Referenced by get_readings(), and parse_response_descriptor().

◆ _resetted

bool AP_Proximity_RPLidarA2::_resetted

private

Definition at line 88 of file AP_Proximity_RPLidarA2.h.

Referenced by reset_rplidar().

◆ _response_type

enum ResponseType AP_Proximity_RPLidarA2::_response_type

private

response from the lidar

Definition at line 98 of file AP_Proximity_RPLidarA2.h.

Referenced by get_readings(), parse_response_data(), and parse_response_descriptor().

◆ _rp_state

enum rp_state AP_Proximity_RPLidarA2::_rp_state

private

Definition at line 99 of file AP_Proximity_RPLidarA2.h.

Referenced by get_readings(), parse_response_descriptor(), reset_rplidar(), send_request_for_health(), and set_scan_mode().

◆ _rp_systeminfo

char AP_Proximity_RPLidarA2::_rp_systeminfo[63]

private

Definition at line 85 of file AP_Proximity_RPLidarA2.h.

Referenced by get_readings().

◆ _sector_initialised

bool AP_Proximity_RPLidarA2::_sector_initialised

private

Definition at line 90 of file AP_Proximity_RPLidarA2.h.

Referenced by init_sectors(), and initialise().

◆ _sync_error

uint8_t AP_Proximity_RPLidarA2::_sync_error

private

Definition at line 94 of file AP_Proximity_RPLidarA2.h.

Referenced by AP_Proximity_RPLidarA2(), get_readings(), and parse_response_data().

◆ _uart

AP_HAL::UARTDriver* AP_Proximity_RPLidarA2::_uart

private

Definition at line 83 of file AP_Proximity_RPLidarA2.h.

Referenced by AP_Proximity_RPLidarA2(), get_readings(), reset_rplidar(), send_request_for_health(), set_scan_mode(), and update().

◆ payload

union AP_Proximity_RPLidarA2::PACKED AP_Proximity_RPLidarA2::payload

private

Referenced by get_readings(), parse_response_data(), and parse_response_descriptor().

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

libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp

Classes

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ResponseType

◆ rp_state

Constructor & Destructor Documentation

◆ AP_Proximity_RPLidarA2()

Member Function Documentation

◆ detect()

◆ distance_max()

◆ distance_min()

◆ get_readings()

◆ init_sectors()

◆ initialise()

◆ parse_response_data()

◆ parse_response_descriptor()

◆ reset_rplidar()

◆ send_request_for_health()

◆ set_scan_mode()

◆ update()

Member Data Documentation

◆ _angle_deg_last

◆ _byte_count

◆ _cnt

◆ _descriptor

◆ _descriptor_data

◆ _distance_m_last

◆ _information_data

◆ _initialised

◆ _last_distance_received_ms

◆ _last_request_ms

◆ _last_reset_ms

◆ _last_sector

◆ _payload_length

◆ _resetted

◆ _response_type

◆ _rp_state

◆ _rp_systeminfo

◆ _sector_initialised

◆ _sync_error

◆ _uart

◆ payload