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Change #defines to static constexpr types in LidateLite.h, updated the docs link in ll40ls.cpp, and shortened comments to allow uniform indentation in LidarLiteI2C.h.

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This commit is contained in:
mcsauder
2019-09-26 21:42:07 -06:00
committed by Nuno Marques
parent 9023030931
commit 4f71c4e123
3 changed files with 10 additions and 11 deletions
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13
src/drivers/distance_sensor/ll40ls/LidarLite.h
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@@ -46,17 +46,16 @@
using namespace time_literals;
/* Device limits */
#define LL40LS_MIN_DISTANCE (0.05f)
#define LL40LS_MAX_DISTANCE (25.00f)
#define LL40LS_MAX_DISTANCE_V2 (35.00f)
// Device limits
static constexpr float LL40LS_MIN_DISTANCE{0.05f};
static constexpr float LL40LS_MAX_DISTANCE{25.00f};
static constexpr float LL40LS_MAX_DISTANCE_V2{35.00f};
// Normal conversion wait time.
#define LL40LS_CONVERSION_INTERVAL 50_ms
static constexpr uint32_t LL40LS_CONVERSION_INTERVAL{50_ms};
// Maximum time to wait for a conversion to complete.
#define LL40LS_CONVERSION_TIMEOUT 100_ms
static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
class LidarLite
{

6
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
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@@ -73,9 +73,9 @@ static constexpr uint8_t LL40LS_SIG_COUNT_VAL_MAX = 0xFF; /* Maximum acquisi
static constexpr int LL40LS_SIGNAL_STRENGTH_MIN_V3HP = 70; /* Min signal strength for V3HP */
static constexpr int LL40LS_SIGNAL_STRENGTH_MAX_V3HP = 255; /* Max signal strength for V3HP */
static constexpr int LL40LS_SIGNAL_STRENGTH_LOW = 24; /* Minimum relative signal strength for a valid measurement */
static constexpr int LL40LS_PEAK_STRENGTH_LOW = 135; /* Minimum peak strength raw value for accepting a measurement */
static constexpr int LL40LS_PEAK_STRENGTH_HIGH = 234; /* Max peak strength raw value */
static constexpr int LL40LS_SIGNAL_STRENGTH_LOW = 24; /* Minimum signal strength for a valid measurement */
static constexpr int LL40LS_PEAK_STRENGTH_LOW = 135; /* Minimum peak strength for accepting a measurement */
static constexpr int LL40LS_PEAK_STRENGTH_HIGH = 234; /* Max peak strength raw value */
class LidarLiteI2C : public LidarLite, public device::I2C, public px4::ScheduledWorkItem

2
src/drivers/distance_sensor/ll40ls/ll40ls.cpp
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@@ -231,7 +231,7 @@ I2C bus driver for LidarLite rangefinders.
The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
Setup/usage information: https://docs.px4.io/v1.9.0/en/sensor/lidar_lite.htmls
Setup/usage information: https://docs.px4.io/en/sensor/lidar_lite.html
### Examples