kb_lrf.h File Reference

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Functions
int	kb_lrf_Init (char *LRF_DeviceName)
int	kb_lrf_GetDistances (int LRF_DeviceHandle)
void	kb_lrf_Close (int LRF_DeviceHandle)
Variables
unsigned short	kb_lrf_DistanceData [121]

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Function Documentation

void kb_lrf_Close

(

int

LRF_DeviceHandle

)

kb_lrf_Close does powering off the LRF, the close the port device

Parameters:

LRF_DeviceHandle

Handle to the lrf port which as been openned by kb_lrf_openComPort or kb_lrf_init

Definition at line 720 of file kb_lrf.c.

References kb_lrf_pwrOff().

Referenced by handle_kill().

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int kb_lrf_GetDistances

(

int

LRF_DeviceHandle

)

kb_lrf_GetDistances is a high level function that does whole mechanism certify the link, get some distances, averages then receive back the data from LRF,

Parameters:

LRF_DeviceHandle

Handle to the lrf port which as been openned by kb_lrf_openComPort or kb_lrf_init

Returns:

- < 0 : Any error code

• 0 : Sucess

Definition at line 787 of file kb_lrf.c.

References DISTANCE_READINGS_TO_AVERAGE, KB_ERROR, KB_ERROR_LRFNOCERT, kb_lrf_AcquireCertifiedCode(), kb_lrf_CertifyLink(), kb_lrf_DistanceData, kb_lrf_DistanceDataSensor, kb_lrf_DistanceDataSum, kb_lrf_DistanceGoodCounter, and kb_lrf_FetchDistanceFromLRF().

Referenced by koa_lrf_task(), and lrfmeasure().

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int kb_lrf_Init

(

char *

LRF_DeviceName

)

kb_lrf_Init does openning port, turn power on the LRF then certify the link,

Returns:

- < 0 : Any error code

• > 0 : Handle to the device

Definition at line 669 of file kb_lrf.c.

References KB_ERROR, KB_ERROR_OPENLRF, kb_gpio_dir(), kb_gpio_function(), kb_gpio_init(), kb_init(), kb_lrf_AcquireCertifiedCode(), kb_lrf_CertifyLink(), kb_lrf_OpenComPort(), kb_lrf_pwrOn(), OUT, and PXA_INT0.

Referenced by koa_lrf_task(), lrfinit(), and lrfmeasure().

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Variable Documentation

unsigned short kb_lrf_DistanceData[121]

Definition at line 80 of file kb_lrf.c.

Referenced by kb_lrf_GetDistances(), koa_lrf_task(), and lrfmeasure().