#include <AP_RangeFinder_LeddarOne.h>

Inheritance diagram for AP_RangeFinder_LeddarOne:

Collaboration diagram for AP_RangeFinder_LeddarOne:

Public Member Functions
	AP_RangeFinder_LeddarOne (RangeFinder::RangeFinder_State &_state, AP_SerialManager &serial_manager, uint8_t serial_instance)

void	update (void)

Public Member Functions inherited from AP_RangeFinder_Backend
	AP_RangeFinder_Backend (RangeFinder::RangeFinder_State &_state)

virtual	~AP_RangeFinder_Backend (void)

virtual void	handle_msg (mavlink_message_t *msg)

void	update_pre_arm_check ()

enum Rotation	orientation () const

uint16_t	distance_cm () const

uint16_t	voltage_mv () const

int16_t	max_distance_cm () const

int16_t	min_distance_cm () const

int16_t	ground_clearance_cm () const

MAV_DISTANCE_SENSOR	get_mav_distance_sensor_type () const

RangeFinder::RangeFinder_Status	status () const

RangeFinder::RangeFinder_Type	type () const

bool	has_data () const

uint8_t	range_valid_count () const

const Vector3f &	get_pos_offset () const

Static Public Member Functions
static bool	detect (AP_SerialManager &serial_manager, uint8_t serial_instance)

Protected Member Functions
virtual MAV_DISTANCE_SENSOR	_get_mav_distance_sensor_type () const override

Protected Member Functions inherited from AP_RangeFinder_Backend
void	update_status ()

void	set_status (RangeFinder::RangeFinder_Status status)

Private Member Functions
bool	get_reading (uint16_t &reading_cm)

bool	CRC16 (uint8_t *aBuffer, uint8_t aLength, bool aCheck)

LeddarOne_Status	parse_response (uint8_t &number_detections)

Private Attributes
AP_HAL::UARTDriver *	uart = nullptr

uint32_t	last_reading_ms

uint32_t	last_sending_request_ms

uint32_t	last_available_ms

uint16_t	detections [LEDDARONE_DETECTIONS_MAX]

uint32_t	sum_distance

LeddarOne_ModbusStatus	modbus_status = LEDDARONE_MODBUS_STATE_INIT

uint8_t	read_buffer [LEDDARONE_READ_BUFFER_SIZE]

uint32_t	read_len

const uint8_t	send_request_buffer [8]

Additional Inherited Members
Protected Attributes inherited from AP_RangeFinder_Backend
RangeFinder::RangeFinder_State &	state

AP_HAL::Semaphore *	_sem

Detailed Description

Definition at line 40 of file AP_RangeFinder_LeddarOne.h.

Constructor & Destructor Documentation

◆ AP_RangeFinder_LeddarOne()

AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne	(	RangeFinder::RangeFinder_State &	_state,
		AP_SerialManager &	serial_manager,
		uint8_t	serial_instance
	)

Definition at line 27 of file AP_RangeFinder_LeddarOne.cpp.

Here is the call graph for this function:

Member Function Documentation

◆ _get_mav_distance_sensor_type()

virtual MAV_DISTANCE_SENSOR AP_RangeFinder_LeddarOne::_get_mav_distance_sensor_type ( ) const

inlineoverrideprotectedvirtual

Implements AP_RangeFinder_Backend.

Definition at line 57 of file AP_RangeFinder_LeddarOne.h.

Here is the call graph for this function:

◆ CRC16()

bool AP_RangeFinder_LeddarOne::CRC16	(	uint8_t *	aBuffer,
		uint8_t	aLength,
		bool	aCheck
	)

private

Definition at line 142 of file AP_RangeFinder_LeddarOne.cpp.

Referenced by _get_mav_distance_sensor_type(), and parse_response().

Here is the caller graph for this function:

◆ detect()

bool AP_RangeFinder_LeddarOne::detect	(	AP_SerialManager &	serial_manager,
		uint8_t	serial_instance
	)

static

Definition at line 43 of file AP_RangeFinder_LeddarOne.cpp.

Referenced by RangeFinder::detect_instance().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_reading()

bool AP_RangeFinder_LeddarOne::get_reading ( uint16_t & reading_cm )

private

Definition at line 49 of file AP_RangeFinder_LeddarOne.cpp.

Referenced by _get_mav_distance_sensor_type(), and update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ parse_response()

LeddarOne_Status AP_RangeFinder_LeddarOne::parse_response ( uint8_t & number_detections )

private

Definition at line 191 of file AP_RangeFinder_LeddarOne.cpp.

Referenced by _get_mav_distance_sensor_type(), and get_reading().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ update()

void AP_RangeFinder_LeddarOne::update ( void )

virtual

Implements AP_RangeFinder_Backend.

Definition at line 127 of file AP_RangeFinder_LeddarOne.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ detections

uint16_t AP_RangeFinder_LeddarOne::detections[LEDDARONE_DETECTIONS_MAX]

private

Definition at line 76 of file AP_RangeFinder_LeddarOne.h.

Referenced by parse_response().

◆ last_available_ms

uint32_t AP_RangeFinder_LeddarOne::last_available_ms

private

Definition at line 74 of file AP_RangeFinder_LeddarOne.h.

Referenced by get_reading().

◆ last_reading_ms

uint32_t AP_RangeFinder_LeddarOne::last_reading_ms

private

Definition at line 72 of file AP_RangeFinder_LeddarOne.h.

Referenced by update().

◆ last_sending_request_ms

uint32_t AP_RangeFinder_LeddarOne::last_sending_request_ms

private

Definition at line 73 of file AP_RangeFinder_LeddarOne.h.

Referenced by get_reading().

◆ modbus_status

LeddarOne_ModbusStatus AP_RangeFinder_LeddarOne::modbus_status = LEDDARONE_MODBUS_STATE_INIT

private

Definition at line 79 of file AP_RangeFinder_LeddarOne.h.

Referenced by get_reading().

◆ read_buffer

uint8_t AP_RangeFinder_LeddarOne::read_buffer[LEDDARONE_READ_BUFFER_SIZE]

private

Definition at line 80 of file AP_RangeFinder_LeddarOne.h.

Referenced by get_reading(), and parse_response().

◆ read_len

uint32_t AP_RangeFinder_LeddarOne::read_len

private

Definition at line 81 of file AP_RangeFinder_LeddarOne.h.

Referenced by get_reading(), and parse_response().

◆ send_request_buffer

const uint8_t AP_RangeFinder_LeddarOne::send_request_buffer[8]

private

Initial value:

= {
        LEDDARONE_DEFAULT_ADDRESS,
        LEDDARONE_MODOBUS_FUNCTION_CODE,
        0,
        LEDDARONE_MODOBUS_FUNCTION_REGISTER_ADDRESS,   
        0,
        LEDDARONE_MODOBUS_FUNCTION_READ_NUMBER,        
        0x30,   
        0x09    
    }

Definition at line 85 of file AP_RangeFinder_LeddarOne.h.

Referenced by get_reading().

◆ sum_distance

uint32_t AP_RangeFinder_LeddarOne::sum_distance

private

Definition at line 77 of file AP_RangeFinder_LeddarOne.h.

Referenced by get_reading(), and parse_response().

◆ uart

AP_HAL::UARTDriver* AP_RangeFinder_LeddarOne::uart = nullptr

private

Definition at line 71 of file AP_RangeFinder_LeddarOne.h.

Referenced by AP_RangeFinder_LeddarOne(), get_reading(), and parse_response().

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

libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_RangeFinder_LeddarOne()

Member Function Documentation

◆ _get_mav_distance_sensor_type()

◆ CRC16()

◆ detect()

◆ get_reading()

◆ parse_response()

◆ update()

Member Data Documentation

◆ detections

◆ last_available_ms

◆ last_reading_ms

◆ last_sending_request_ms

◆ modbus_status

◆ read_buffer

◆ read_len

◆ send_request_buffer

◆ sum_distance

◆ uart