Inheritance diagram for Mrm_lid_can_b2:

Public Member Functions
	Mrm_lid_can_b2 (Robot *robot=NULL, uint8_t maxDevices=12)

void	add (char deviceName=(char )"")

void	calibration (uint8_t deviceNumber=0)

void	defaults (uint8_t deviceNumber=0xFF)

void	distanceMode (uint8_t deviceNumber, bool isShort=true)

void	measurementTime (uint8_t deviceNumber, uint16_t ms=100)

bool	messageDecode (uint32_t canId, uint8_t data[8])

uint16_t	reading (uint8_t deviceNumber=0)

void	readingsPrint ()

void	roi (uint8_t deviceNumber, uint8_t x=16, uint8_t y=16)

void	test ()

void	timingBudget (uint8_t deviceNumber, uint16_t ms=100)

Public Member Functions inherited from SensorBoard
	SensorBoard (Robot robot, uint8_t devicesOnABoard, const char boardName, uint8_t maxNumberOfBoards, BoardId id)

void	continuousReadingCalculatedDataStart (uint8_t deviceNumber=0xFF)

Public Member Functions inherited from Board
	Board (Robot robot, uint8_t maxNumberOfBoards, uint8_t devicesOnABoard, const char boardName, BoardType boardType, BoardId id)

void	add (char *deviceName, uint16_t canIn, uint16_t canOut)

bool	alive (uint8_t deviceNumber=0, bool checkAgainIfDead=false, bool errorIfNotAfterCheckingAgain=false)

uint8_t	count ()

void	aliveSet (bool yesOrNo, uint8_t deviceNumber=0)

BoardType	boardType ()

uint8_t	deadOrAliveCount ()

uint8_t	devicesOnASingleBoard ()

uint8_t	devicesMaximumNumberInAllBoards ()

uint8_t	devicesScan (bool verbose=true, uint16_t mask=0xFFFF)

uint8_t	errorCodeLast ()

uint8_t	errorWasInDeviceNumber ()

void	firmwareRequest (uint8_t deviceNumber=0xFF)

uint16_t	fps (uint8_t deviceNumber=0)

void	fpsDisplay ()

void	fpsRequest (uint8_t deviceNumber=0xFF)

BoardId	id ()

void	idChange (uint16_t newDeviceNumber, uint8_t deviceNumber=0)

void	info (uint8_t deviceNumber=0xFF)

bool	isForMe (uint32_t canIdOut, uint8_t deviceNumber)

bool	isFromMe (uint32_t canIdOut, uint8_t deviceNumber)

uint32_t	lastMessageMs (uint8_t deviceNumber=0)

bool	messagePrint (uint32_t msgId, uint8_t dlc, uint8_t *data, bool outbound)
	‍** Prints a frame More...

void	messageSend (uint8_t *data, uint8_t dlc, uint8_t deviceNumber=0)

char *	name (uint8_t deviceNumber)

char *	name ()

void	notificationRequest (uint8_t commandRequestingNotification, uint8_t deviceNumber)

void	oscillatorTest (uint8_t deviceNumber=0xFF)

void	reset (uint8_t deviceNumber=0xFF)

void	start (uint8_t deviceNumber=0xFF, uint8_t measuringModeNow=0, uint16_t refreshMs=0)

void	swap (uint8_t deviceNumber1, uint8_t deviceNumber2)

void	stop (uint8_t deviceNumber=0xFF)

virtual void	test (uint8_t deviceNumber=0xFF, uint16_t betweenTestsMs=0)

Additional Inherited Members
Protected Member Functions inherited from Board
bool	messageDecodeCommon (uint32_t canId, uint8_t data[8], uint8_t deviceNumber=0)

Protected Attributes inherited from Board
uint32_t	_alive

bool	_aliveReport = false

char	_boardsName [12]

BoardType	_boardType

uint8_t	canData [8]

uint8_t	devicesOnABoard

uint8_t	errorCode = 0

uint8_t	errorInDeviceNumber = 0

std::vector< uint16_t > *	fpsLast

BoardId	_id

std::vector< uint32_t > *	idIn

std::vector< uint32_t > *	idOut

std::vector< uint32_t > *	lastMessageReceivedMs

std::vector< uint32_t > *	_lastReadingMs

uint8_t	maximumNumberOfBoards

uint8_t	measuringMode = 0

uint8_t	measuringModeLimit = 0

uint8_t	_message [29]

std::vector< char[10]> *	_name

int	nextFree

Robot *	robotContainer

Constructor & Destructor Documentation

◆ Mrm_lid_can_b2()

Mrm_lid_can_b2::Mrm_lid_can_b2	(	Robot *	robot = `NULL`,
		uint8_t	maxNumberOfBoards = `12`
	)

Constructor

Parameters

robot	- robot containing this board
esp32CANBusSingleton	- a single instance of CAN Bus common library for all CAN Bus peripherals.
hardwareSerial	- Serial, Serial1, Serial2,... - an optional serial port, for example for Bluetooth communication

Constructor

Parameters

robot	- robot containing this board
esp32CANBusSingleton	- a single instance of CAN Bus common library for all CAN Bus peripherals.
hardwareSerial	- Serial, Serial1, Serial2,... - an optional serial port, for example for Bluetooth communication
maxNumberOfBoards	- maximum number of boards

Member Function Documentation

◆ add()

void Mrm_lid_can_b2::add ( char * deviceName = (char*)"" )

Add a mrm-ref-can sensor

Parameters

deviceName - device's name

Add a mrm-lid-can-b device

Parameters

deviceName - device's name

◆ calibration()

void Mrm_lid_can_b2::calibration ( uint8_t deviceNumber = 0 )

Calibration, only once after production

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

◆ defaults()

void Mrm_lid_can_b2::defaults ( uint8_t deviceNumber = 0xFF )

Reset sensor's non-volatile memory to defaults (distance mode, timing budget, region of interest, and measurement time, but leaves CAN Bus id intact

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0. 0xFF - resets all.

◆ distanceMode()

void Mrm_lid_can_b2::distanceMode	(	uint8_t	deviceNumber,
		bool	isShort = `true`
	)

Distance mode. Short mode has better ambient light immunity but the maximum distance is limited to 1.3 m. Long distance ranges up to 4 m but is less performant under ambient light. Stored in sensors non-volatile memory. Allow 50 ms for flash to be written.

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.
isShort	- if not short, long.

◆ measurementTime()

void Mrm_lid_can_b2::measurementTime	(	uint8_t	deviceNumber,
		uint16_t	ms = `100`
	)

Measurement time (IMP) in ms. IMP must be >= TB. Probably the best value is IMP = TB. Stored in sensors non-volatile memory. Allow 50 ms for flash to be written.

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.
ms	- default 100.

◆ messageDecode()

bool Mrm_lid_can_b2::messageDecode	(	uint32_t	canId,
		uint8_t	data[8]
	)

virtual

Read CAN Bus message into local variables

Parameters

canId	- CAN Bus id
data	- 8 bytes from CAN Bus message.

Read CAN Bus message into local variables

Parameters

canId	- CAN Bus id
data	- 8 bytes from CAN Bus message.

Returns: - true if canId for this class

Reimplemented from SensorBoard.

◆ reading()

uint16_t Mrm_lid_can_b2::reading ( uint8_t deviceNumber = 0 )

Analog readings

Parameters

receiverNumberInSensor	- single IR transistor in mrm-ref-can
deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - analog value

Analog readings

Parameters

deviceNumber - Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.

Returns: - analog value

◆ readingsPrint()

void Mrm_lid_can_b2::readingsPrint ( )

Print all readings in a line

◆ roi()

void Mrm_lid_can_b2::roi	(	uint8_t	deviceNumber,
		uint8_t	x = `16`,
		uint8_t	y = `16`
	)

ROI, region of interest, a matrix from 4x4 up to 16x16 (x, y). Smaller x and y - smaller view angle. Stored in sensors non-volatile memory. Allow 50 ms for flash to be written.

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.
x	- default 16.
y	- default 16.

◆ test()

void Mrm_lid_can_b2::test ( )

Test

◆ timingBudget()

void Mrm_lid_can_b2::timingBudget	(	uint8_t	deviceNumber,
		uint16_t	ms = `100`
	)

Timing budget (TB) in ms. TB improves the measurement reliability but increases power consumption. Stored in sensors non-volatile memory. Set before measurement time as measurement time checks this value and returns error if not appropriate. Allow 50 ms for flash to be written.

Parameters

deviceNumber	- Device's ordinal number. Each call of function add() assigns a increasing number to the device, starting with 0.
ms	- (TB) in ms possible values [20, 50, 100, 200, 500]. Default 100.

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

C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-lid-can-b2/src/mrm-lid-can-b2.h
C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-lid-can-b2/src/mrm-lid-can-b2.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ Mrm_lid_can_b2()

Member Function Documentation

◆ add()

◆ calibration()

◆ defaults()

◆ distanceMode()

◆ measurementTime()

◆ messageDecode()

◆ reading()

◆ readingsPrint()

◆ roi()

◆ test()

◆ timingBudget()