AM_CANLidar Class Reference

ToF/Lidar sensor device. More...

#include <AM_CAN_Lidar.h>

Inheritance diagram for AM_CANLidar:

Public Member Functions
	AM_CANLidar (int deviceID)
	Construct a CAN lidar sensor with the given CAN ID.
AM_LidarData	GetData ()
	Fetch the most recent lidar reading using the default timeout.
AM_LidarData	GetData (int timeoutMs)
	Fetch lidar reading with a custom timeout applied to the CAN read.
AM_LidarDebugData	GetDebugData (int timeoutMs=50)
	Retrieve the latest debug information from the sensor.
uint16_t	GetPeakSignalCentiMcps () const
	Get the peak signal strength of the last debug sample.
uint16_t	GetAmbientCentiMcps () const
	Get the ambient light level of the last debug sample.
bool	HasDebugData () const
	Returns true if at least one debug frame has been received.
bool	SetDistanceMode (AM_LidarDistanceMode mode)
	Set the VL53L1X distance mode on the device.
bool	SetMeasurementTimingBudgetUs (uint32_t budgetUs)
	Set measurement timing budget on the device.
bool	SetIntermeasurementPeriodMs (uint32_t periodMs)
	Set intermeasurement period on the device.
bool	SetTimeoutMs (uint16_t timeoutMs)
	Set the lidar library read timeout on the device.
bool	SetSigmaThreshold (uint16_t sigma)
	Set the VL53L1X sigma threshold register value.
bool	SetMinSignalRate (float mcps)
	Set the minimum signal rate threshold on the device.
bool	SetROISize (uint8_t width, uint8_t height)
	Set the ROI size on the device.
bool	SetROICenter (uint8_t centerSpad)
	Set the ROI center SPAD on the device.
void	SetUserOffsetMm (int32_t offsetMm)
	Set an additional runtime offset applied on top of the default offset.
int32_t	GetUserOffsetMm () const
	Get the currently configured runtime (user) offset in millimeters.
void	SetOffsetDegrees (double degrees)
void	SetReportPeriod (int periodMs)
	Set periodic report period (ms) for device reports.
void	ResetReportPeriod ()
	Reset device report period to default (50ms).
Public Member Functions inherited from CanDevice
	CanDevice (int deviceID, int deviceManufacturer, int deviceType)
	Construct a CAN device wrapper.
virtual	~CanDevice ()=default
	Virtual destructor.
int	getDeviceId ()
	Get this device's configured CAN ID.
void	RestartDevice ()
	Request a device reboot via CAN command.

Static Public Member Functions
static constexpr int32_t	GetDefaultOffsetMm ()
	Get the fixed default offset in millimeters compiled into the library.

Public Attributes
AM_LidarData	data

Additional Inherited Members
Protected Member Functions inherited from CanDevice
void	SendCANMessage (int apiID, const uint8_t *data, int length)
	Low-level helper to transmit a CAN packet.
bool	ReceiveCANMessage (int apiID, frc::CANData *, int timeoutMs)
	Receive a packet with a specific API ID, optionally waiting up to timeout.
Protected Attributes inherited from CanDevice
frc::CAN	m_can
int	m_deviceID
int	deviceManufacturer
int	deviceType

Detailed Description

ToF/Lidar sensor device.

Retrieves distance, status, flags, timestamp, and optional debug signal data from the device over CAN.

Offsets:

• A fixed default offset (AM_LIDAR_DEFAULT_OFFSET_MM) is always applied.
• Teams can apply an additional runtime offset via SetUserOffsetMm().
• Total applied offset = default + user.

Positive offsets increase reported distance, negative offsets decrease it.

Constructor & Destructor Documentation

AM_CANLidar()

AM_CANLidar::AM_CANLidar ( int deviceID )

explicit

Construct a CAN lidar sensor with the given CAN ID.

Parameters

deviceID

The device's CAN ID.

Member Function Documentation

GetAmbientCentiMcps()

uint16_t AM_CANLidar::GetAmbientCentiMcps

(

)

const

Get the ambient light level of the last debug sample.

GetData() [1/2]

AM_LidarData AM_CANLidar::GetData

(

)

Fetch the most recent lidar reading using the default timeout.

Returns

A filled AM_LidarData struct.

GetData() [2/2]

AM_LidarData AM_CANLidar::GetData

(

int

timeoutMs

)

Fetch lidar reading with a custom timeout applied to the CAN read.

Parameters

timeoutMs

Timeout in milliseconds for the CAN read.

Returns

A filled AM_LidarData struct.

GetDebugData()

AM_LidarDebugData AM_CANLidar::GetDebugData

(

int

timeoutMs = 50

)

Retrieve the latest debug information from the sensor.

Attempts to read a debug CAN frame. If a new frame is not available within the timeout, the most recently cached debug data is returned instead.

Parameters

timeoutMs

Timeout for the CAN read.

Returns

Debug data structure containing signal diagnostics.

GetDefaultOffsetMm()

constexpr int32_t AM_CANLidar::GetDefaultOffsetMm ( )

inlinestaticconstexpr

Get the fixed default offset in millimeters compiled into the library.

GetPeakSignalCentiMcps()

uint16_t AM_CANLidar::GetPeakSignalCentiMcps

(

)

const

Get the peak signal strength of the last debug sample.

GetUserOffsetMm()

int32_t AM_CANLidar::GetUserOffsetMm

(

)

const

Get the currently configured runtime (user) offset in millimeters.

HasDebugData()

bool AM_CANLidar::HasDebugData

(

)

const

Returns true if at least one debug frame has been received.

ResetReportPeriod()

void AM_CANLidar::ResetReportPeriod

(

)

Reset device report period to default (50ms).

SetDistanceMode()

bool AM_CANLidar::SetDistanceMode

(

AM_LidarDistanceMode

mode

)

Set the VL53L1X distance mode on the device.

Parameters

mode	Distance mode value to send to the device firmware.

Returns

True if the request frame was queued.

SetIntermeasurementPeriodMs()

bool AM_CANLidar::SetIntermeasurementPeriodMs

(

uint32_t

periodMs

)

Set intermeasurement period on the device.

Parameters

periodMs

Period in milliseconds.

Returns

True if the request frame was queued.

SetMeasurementTimingBudgetUs()

bool AM_CANLidar::SetMeasurementTimingBudgetUs

(

uint32_t

budgetUs

)

Set measurement timing budget on the device.

Parameters

budgetUs

Timing budget in microseconds.

Returns

True if the request frame was queued.

SetMinSignalRate()

bool AM_CANLidar::SetMinSignalRate

(

float

mcps

)

Set the minimum signal rate threshold on the device.

Units are MCPS.

Parameters

mcps	Minimum signal rate in MCPS.

Returns

True if the request frame was queued.

SetOffsetDegrees()

void AM_CANLidar::SetOffsetDegrees

(

double

degrees

)

SetReportPeriod()

void AM_CANLidar::SetReportPeriod

(

int

periodMs

)

Set periodic report period (ms) for device reports.

Parameters

periodMs

Period in milliseconds.

SetROICenter()

bool AM_CANLidar::SetROICenter

(

uint8_t

centerSpad

)

Set the ROI center SPAD on the device.

Parameters

centerSpad

SPAD number to use as ROI center.

Returns

True if the request frame was queued.

SetROISize()

bool AM_CANLidar::SetROISize	(	uint8_t	width,
		uint8_t	height )

Set the ROI size on the device.

Parameters

width	ROI width in SPADs.
height	ROI height in SPADs.

Returns

True if the request frame was queued.

SetSigmaThreshold()

bool AM_CANLidar::SetSigmaThreshold

(

uint16_t

sigma

)

Set the VL53L1X sigma threshold register value.

Parameters

sigma

Raw sigma threshold register value.

Returns

True if the request frame was queued.

SetTimeoutMs()

bool AM_CANLidar::SetTimeoutMs

(

uint16_t

timeoutMs

)

Set the lidar library read timeout on the device.

Parameters

timeoutMs

Timeout in milliseconds.

Returns

True if the request frame was queued.

SetUserOffsetMm()

void AM_CANLidar::SetUserOffsetMm

(

int32_t

offsetMm

)

Set an additional runtime offset applied on top of the default offset.

Parameters

offsetMm

Additional offset in millimeters.

Total offset applied to returned readings is:

AM_LIDAR_DEFAULT_OFFSET_MM + offsetMm

Member Data Documentation

data

AM_LidarData AM_CANLidar::data

Last received data cached in the object (distance includes offsets).

---

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

• src/main/native/include/AM_CAN_Lidar.h