AP_RangeFinder_VL53L0X Class Reference

#include <AP_RangeFinder_VL53L0X.h>

Inheritance diagram for AP_RangeFinder_VL53L0X:

Collaboration diagram for AP_RangeFinder_VL53L0X:

Classes
struct	RegData
struct	SequenceStepEnables
struct	SequenceStepTimeouts

Public Member Functions
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 AP_RangeFinder_Backend *	detect (RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr< AP_HAL::I2CDevice > dev)

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	vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange }

Private Member Functions
	AP_RangeFinder_VL53L0X (RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr< AP_HAL::I2CDevice > dev)
void	init ()
void	timer ()
bool	check_id (void)
bool	get_reading (uint16_t &reading_cm)
uint8_t	read_register (uint8_t reg)
uint16_t	read_register16 (uint8_t reg)
void	write_register (uint8_t reg, uint8_t value)
void	write_register16 (uint8_t reg, uint16_t value)
bool	get_SPAD_info (uint8_t *count, bool *type_is_aperture)
void	getSequenceStepEnables (SequenceStepEnables *enables)
uint32_t	getMeasurementTimingBudget (void)
void	getSequenceStepTimeouts (SequenceStepEnables const *enables, SequenceStepTimeouts *timeouts)
uint8_t	getVcselPulsePeriod (vcselPeriodType type)
uint32_t	timeoutMclksToMicroseconds (uint16_t timeout_period_mclks, uint8_t vcsel_period_pclks)
uint16_t	decodeTimeout (uint16_t reg_val)
bool	setMeasurementTimingBudget (uint32_t budget_us)
uint32_t	timeoutMicrosecondsToMclks (uint32_t timeout_period_us, uint8_t vcsel_period_pclks)
uint16_t	encodeTimeout (uint16_t timeout_mclks)
bool	performSingleRefCalibration (uint8_t vhv_init_byte)
void	start_continuous (void)

Private Attributes
AP_HAL::OwnPtr< AP_HAL::I2CDevice >	dev
uint8_t	stop_variable
uint32_t	measurement_timing_budget_us
uint32_t	start_ms
uint32_t	sum_mm
uint32_t	counter

Static Private Attributes
static const RegData	tuning_data []

Additional Inherited Members
Protected Attributes inherited from AP_RangeFinder_Backend
RangeFinder::RangeFinder_State &	state
AP_HAL::Semaphore *	_sem

Detailed Description

Definition at line 7 of file AP_RangeFinder_VL53L0X.h.

Member Enumeration Documentation

vcselPeriodType

enum AP_RangeFinder_VL53L0X::vcselPeriodType

private

Enumerator
VcselPeriodPreRange
VcselPeriodFinalRange

Definition at line 61 of file AP_RangeFinder_VL53L0X.h.

Constructor & Destructor Documentation

AP_RangeFinder_VL53L0X()

AP_RangeFinder_VL53L0X::AP_RangeFinder_VL53L0X ( RangeFinder::RangeFinder_State &  _state, AP_HAL::OwnPtr< AP_HAL::I2CDevice >  dev  )

private

Definition at line 219 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by _get_mav_distance_sensor_type(), and detect().

Here is the caller graph for this function:

Member Function Documentation

_get_mav_distance_sensor_type()

virtual MAV_DISTANCE_SENSOR AP_RangeFinder_VL53L0X::_get_mav_distance_sensor_type ( ) const

inlineoverrideprotectedvirtual

Implements AP_RangeFinder_Backend.

Definition at line 19 of file AP_RangeFinder_VL53L0X.h.

Here is the call graph for this function:

check_id()

bool AP_RangeFinder_VL53L0X::check_id ( void  )

private

Definition at line 257 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by _get_mav_distance_sensor_type(), and detect().

Here is the call graph for this function:

Here is the caller graph for this function:

decodeTimeout()

uint16_t AP_RangeFinder_VL53L0X::decodeTimeout ( uint16_t  reg_val )

private

Definition at line 357 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by getSequenceStepTimeouts().

Here is the caller graph for this function:

detect()

AP_RangeFinder_Backend * AP_RangeFinder_VL53L0X::detect ( RangeFinder::RangeFinder_State &  _state, AP_HAL::OwnPtr< AP_HAL::I2CDevice >  dev  )

static

Definition at line 229 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by RangeFinder::detect_instance().

Here is the call graph for this function:

Here is the caller graph for this function:

encodeTimeout()

uint16_t AP_RangeFinder_VL53L0X::encodeTimeout ( uint16_t  timeout_mclks )

private

Definition at line 455 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by setMeasurementTimingBudget().

Here is the caller graph for this function:

get_reading()

bool AP_RangeFinder_VL53L0X::get_reading ( uint16_t &  reading_cm )

private

Definition at line 722 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by _get_mav_distance_sensor_type(), and timer().

Here is the call graph for this function:

Here is the caller graph for this function:

get_SPAD_info()

bool AP_RangeFinder_VL53L0X::get_SPAD_info ( uint8_t *  count, bool *  type_is_aperture  )

private

Definition at line 273 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

getMeasurementTimingBudget()

uint32_t AP_RangeFinder_VL53L0X::getMeasurementTimingBudget ( void  )

private

Definition at line 401 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

getSequenceStepEnables()

void AP_RangeFinder_VL53L0X::getSequenceStepEnables ( SequenceStepEnables *  enables )

private

Definition at line 319 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by getMeasurementTimingBudget(), and setMeasurementTimingBudget().

Here is the call graph for this function:

Here is the caller graph for this function:

getSequenceStepTimeouts()

void AP_RangeFinder_VL53L0X::getSequenceStepTimeouts ( SequenceStepEnables const *  enables, SequenceStepTimeouts *  timeouts  )

private

Definition at line 368 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by getMeasurementTimingBudget(), and setMeasurementTimingBudget().

Here is the call graph for this function:

Here is the caller graph for this function:

getVcselPulsePeriod()

uint8_t AP_RangeFinder_VL53L0X::getVcselPulsePeriod ( vcselPeriodType  type )

private

Definition at line 332 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by getSequenceStepTimeouts().

Here is the call graph for this function:

Here is the caller graph for this function:

init()

void AP_RangeFinder_VL53L0X::init ( void  )

private

Definition at line 559 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by _get_mav_distance_sensor_type(), and detect().

Here is the call graph for this function:

Here is the caller graph for this function:

performSingleRefCalibration()

bool AP_RangeFinder_VL53L0X::performSingleRefCalibration ( uint8_t  vhv_init_byte )

private

Definition at line 684 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

read_register()

uint8_t AP_RangeFinder_VL53L0X::read_register ( uint8_t  reg )

private

Definition at line 750 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by get_reading(), get_SPAD_info(), getSequenceStepEnables(), getSequenceStepTimeouts(), getVcselPulsePeriod(), init(), and performSingleRefCalibration().

Here is the call graph for this function:

Here is the caller graph for this function:

read_register16()

uint16_t AP_RangeFinder_VL53L0X::read_register16 ( uint8_t  reg )

private

Definition at line 757 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by get_reading(), and getSequenceStepTimeouts().

Here is the call graph for this function:

Here is the caller graph for this function:

setMeasurementTimingBudget()

bool AP_RangeFinder_VL53L0X::setMeasurementTimingBudget ( uint32_t  budget_us )

private

Definition at line 482 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

start_continuous()

void AP_RangeFinder_VL53L0X::start_continuous ( void  )

private

Definition at line 705 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by get_reading(), and init().

Here is the call graph for this function:

Here is the caller graph for this function:

timeoutMclksToMicroseconds()

uint32_t AP_RangeFinder_VL53L0X::timeoutMclksToMicroseconds ( uint16_t  timeout_period_mclks, uint8_t  vcsel_period_pclks  )

private

Definition at line 345 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by getSequenceStepTimeouts().

Here is the caller graph for this function:

timeoutMicrosecondsToMclks()

uint32_t AP_RangeFinder_VL53L0X::timeoutMicrosecondsToMclks ( uint32_t  timeout_period_us, uint8_t  vcsel_period_pclks  )

private

Definition at line 444 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by setMeasurementTimingBudget().

Here is the caller graph for this function:

timer()

void AP_RangeFinder_VL53L0X::timer ( void  )

private

Definition at line 779 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by _get_mav_distance_sensor_type(), and init().

Here is the call graph for this function:

Here is the caller graph for this function:

update()

void AP_RangeFinder_VL53L0X::update ( void  )

virtual

Implements AP_RangeFinder_Backend.

Definition at line 767 of file AP_RangeFinder_VL53L0X.cpp.

Here is the call graph for this function:

write_register()

void AP_RangeFinder_VL53L0X::write_register ( uint8_t  reg, uint8_t  value  )

private

Definition at line 745 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by get_reading(), get_SPAD_info(), init(), performSingleRefCalibration(), and start_continuous().

Here is the call graph for this function:

Here is the caller graph for this function:

write_register16()

void AP_RangeFinder_VL53L0X::write_register16 ( uint8_t  reg, uint16_t  value  )

private

Definition at line 739 of file AP_RangeFinder_VL53L0X.cpp.

Referenced by init(), and setMeasurementTimingBudget().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

counter

uint32_t AP_RangeFinder_VL53L0X::counter

private

Definition at line 81 of file AP_RangeFinder_VL53L0X.h.

Referenced by timer(), and update().

dev

AP_HAL::OwnPtr<AP_HAL::I2CDevice> AP_RangeFinder_VL53L0X::dev

private

Definition at line 35 of file AP_RangeFinder_VL53L0X.h.

Referenced by check_id(), detect(), init(), read_register(), read_register16(), write_register(), and write_register16().

measurement_timing_budget_us

uint32_t AP_RangeFinder_VL53L0X::measurement_timing_budget_us

private

Definition at line 77 of file AP_RangeFinder_VL53L0X.h.

Referenced by getMeasurementTimingBudget(), init(), and setMeasurementTimingBudget().

start_ms

uint32_t AP_RangeFinder_VL53L0X::start_ms

private

Definition at line 78 of file AP_RangeFinder_VL53L0X.h.

Referenced by get_reading(), and start_continuous().

stop_variable

uint8_t AP_RangeFinder_VL53L0X::stop_variable

private

Definition at line 76 of file AP_RangeFinder_VL53L0X.h.

Referenced by init(), and start_continuous().

sum_mm

uint32_t AP_RangeFinder_VL53L0X::sum_mm

private

Definition at line 80 of file AP_RangeFinder_VL53L0X.h.

Referenced by timer(), and update().

tuning_data

const AP_RangeFinder_VL53L0X::RegData AP_RangeFinder_VL53L0X::tuning_data

staticprivate

Definition at line 59 of file AP_RangeFinder_VL53L0X.h.

Referenced by init().

---

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

• libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h
• libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp