LidarLiteI2C.h File Reference

#include "LidarLite.h"
#include <px4_workqueue.h>
#include <perf/perf_counter.h>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/distance_sensor.h>

Go to the source code of this file.

Classes
class	LidarLiteI2C

Macros
#define	LL40LS_BASEADDR   0x62 /* 7-bit address */
#define	LL40LS_BASEADDR_OLD   0x42 /* previous 7-bit address */
#define	LL40LS_MEASURE_REG   0x00 /* Measure range register */
#define	LL40LS_MSRREG_RESET   0x00 /* reset to power on defaults */
#define	LL40LS_MSRREG_ACQUIRE   0x04 /* Value to initiate a measurement, varies based on sensor revision */
#define	LL40LS_DISTHIGH_REG   0x0F /* High byte of distance register, auto increment */
#define	LL40LS_AUTO_INCREMENT   0x80
#define	LL40LS_HW_VERSION   0x41
#define	LL40LS_SW_VERSION   0x4f
#define	LL40LS_SIGNAL_STRENGTH_REG   0x0e
#define	LL40LS_PEAK_STRENGTH_REG   0x0c
#define	LL40LS_UNIT_ID_HIGH   0x16
#define	LL40LS_UNIT_ID_LOW   0x17
#define	LL40LS_SIG_COUNT_VAL_REG   0x02 /* Maximum acquisition count register */
#define	LL40LS_SIG_COUNT_VAL_MAX   0xFF /* Maximum acquisition count max value */
#define	LL40LS_SIGNAL_STRENGTH_LOW   24
#define	LL40LS_PEAK_STRENGTH_LOW   135
#define	LL40LS_PEAK_STRENGTH_HIGH   234

Detailed Description

Author

Allyson Kreft

Driver for the PulsedLight Lidar-Lite range finders connected via I2C.