APM:Libraries: AP_RangeFinder_PulsedLightLRF Class Reference

APM:Libraries

#include <AP_RangeFinder_PulsedLightLRF.h>

Inheritance diagram for AP_RangeFinder_PulsedLightLRF:

Collaboration diagram for AP_RangeFinder_PulsedLightLRF:

Public Member Functions
void	update (void) override

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 AP_RangeFinder_Backend *	detect (uint8_t bus, RangeFinder::RangeFinder_State &_state, RangeFinder::RangeFinder_Type rftype)

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 Types
enum	{ PHASE_MEASURE, PHASE_COLLECT }

Private Member Functions
	AP_RangeFinder_PulsedLightLRF (uint8_t bus, RangeFinder::RangeFinder_State &_state, RangeFinder::RangeFinder_Type rftype)

bool	init (void)

void	timer (void)

bool	lidar_transfer (const uint8_t send, unsigned send_len, uint8_t recv, unsigned recv_len)

Private Attributes
AP_HAL::OwnPtr< AP_HAL::I2CDevice >	_dev

uint8_t	sw_version

uint8_t	hw_version

uint8_t	check_reg_counter

bool	v2_hardware

uint16_t	last_distance_cm

RangeFinder::RangeFinder_Type	rftype

enum AP_RangeFinder_PulsedLightLRF:: { ... }	phase

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

AP_HAL::Semaphore *	_sem

Detailed Description

Definition at line 17 of file AP_RangeFinder_PulsedLightLRF.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
PHASE_MEASURE
PHASE_COLLECT

Definition at line 55 of file AP_RangeFinder_PulsedLightLRF.h.

Constructor & Destructor Documentation

◆ AP_RangeFinder_PulsedLightLRF()

AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF	(	uint8_t	bus,
		RangeFinder::RangeFinder_State &	_state,
		RangeFinder::RangeFinder_Type	rftype
	)

private

Definition at line 47 of file AP_RangeFinder_PulsedLightLRF.cpp.

Referenced by _get_mav_distance_sensor_type(), and detect().

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Member Function Documentation

◆ _get_mav_distance_sensor_type()

virtual MAV_DISTANCE_SENSOR AP_RangeFinder_PulsedLightLRF::_get_mav_distance_sensor_type ( ) const

inlineoverrideprotectedvirtual

Implements AP_RangeFinder_Backend.

Definition at line 31 of file AP_RangeFinder_PulsedLightLRF.h.

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◆ detect()

AP_RangeFinder_Backend * AP_RangeFinder_PulsedLightLRF::detect	(	uint8_t	bus,
		RangeFinder::RangeFinder_State &	_state,
		RangeFinder::RangeFinder_Type	rftype
	)

static

Definition at line 60 of file AP_RangeFinder_PulsedLightLRF.cpp.

Referenced by RangeFinder::detect_instance().

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◆ init()

bool AP_RangeFinder_PulsedLightLRF::init ( void )

private

Definition at line 146 of file AP_RangeFinder_PulsedLightLRF.cpp.

Referenced by _get_mav_distance_sensor_type(), and detect().

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◆ lidar_transfer()

bool AP_RangeFinder_PulsedLightLRF::lidar_transfer	(	const uint8_t *	send,
		unsigned	send_len,
		uint8_t *	recv,
		unsigned	recv_len
	)

private

Referenced by _get_mav_distance_sensor_type().

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◆ timer()

void AP_RangeFinder_PulsedLightLRF::timer ( void )

private

Definition at line 77 of file AP_RangeFinder_PulsedLightLRF.cpp.

Referenced by _get_mav_distance_sensor_type(), and init().

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◆ update()

void AP_RangeFinder_PulsedLightLRF::update ( void )

inlineoverridevirtual

Implements AP_RangeFinder_Backend.

Definition at line 27 of file AP_RangeFinder_PulsedLightLRF.h.

Member Data Documentation

◆ _dev

AP_HAL::OwnPtr<AP_HAL::I2CDevice> AP_RangeFinder_PulsedLightLRF::_dev

private

Definition at line 46 of file AP_RangeFinder_PulsedLightLRF.h.

Referenced by init(), and timer().

◆ check_reg_counter

uint8_t AP_RangeFinder_PulsedLightLRF::check_reg_counter

private

Definition at line 50 of file AP_RangeFinder_PulsedLightLRF.h.

Referenced by timer().

◆ hw_version

uint8_t AP_RangeFinder_PulsedLightLRF::hw_version

private

Definition at line 49 of file AP_RangeFinder_PulsedLightLRF.h.

Referenced by init().

◆ last_distance_cm

uint16_t AP_RangeFinder_PulsedLightLRF::last_distance_cm

private

Definition at line 52 of file AP_RangeFinder_PulsedLightLRF.h.

Referenced by timer().

◆ phase

enum { ... } AP_RangeFinder_PulsedLightLRF::phase

Referenced by init(), and timer().

◆ rftype

RangeFinder::RangeFinder_Type AP_RangeFinder_PulsedLightLRF::rftype

private

Definition at line 53 of file AP_RangeFinder_PulsedLightLRF.h.

Referenced by init().

◆ sw_version

uint8_t AP_RangeFinder_PulsedLightLRF::sw_version

private

Definition at line 48 of file AP_RangeFinder_PulsedLightLRF.h.

Referenced by init().

◆ v2_hardware

bool AP_RangeFinder_PulsedLightLRF::v2_hardware

private

Definition at line 51 of file AP_RangeFinder_PulsedLightLRF.h.

Referenced by init(), and timer().

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

libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp