Paparazzi UAS  v5.15_devel-113-g1b57ff1
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lidar_lite.h
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1 /*
2  * Copyright (C) 2016 Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
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22 
33 #ifndef LIDAR_LITE_I2C_H
34 #define LIDAR_LITE_I2C_H
35 
36 #include "std.h"
37 #include "mcu_periph/i2c.h"
38 
44 };
45 
46 struct LidarLite
47 {
51  float distance; // [m]
53  bool update_agl;
55 };
56 
57 extern struct LidarLite lidar_lite;
58 
59 extern void lidar_lite_init(void);
60 extern void lidar_lite_event(void);
61 extern void lidar_lite_periodic(void);
62 extern void lidar_lite_downlink(void);
63 
64 #endif /* LIDAR_LITE_I2C_H */
65 
void lidar_lite_init(void)
Initialization function.
Definition: lidar_lite.c:56
void lidar_lite_event(void)
Lidar event function Basically just check the progress of the transation to prevent overruns during h...
Definition: lidar_lite.c:76
bool update_agl
Definition: lidar_lite.h:53
LidarLiteStatus
Definition: lidar_lite.h:39
bool compensate_rotation
Definition: lidar_lite.h:54
float distance
Definition: lidar_lite.h:51
void lidar_lite_periodic(void)
Poll lidar for data for altitude hold 50Hz-100Hz should be enough, in theory can go faster (see the d...
Definition: lidar_lite.c:106
struct i2c_transaction trans
Definition: lidar_lite.h:48
unsigned long uint32_t
Definition: types.h:18
uint32_t distance_raw
Definition: lidar_lite.h:50
I2C transaction structure.
Definition: i2c.h:93
uint8_t addr
Definition: lidar_lite.h:49
void lidar_lite_downlink(void)
Downlink message for debug.
Definition: lidar_lite.c:173
unsigned char uint8_t
Definition: types.h:14
enum LidarLiteStatus status
Definition: lidar_lite.h:52
struct LidarLite lidar_lite
Definition: lidar_lite.c:45
Architecture independent I2C (Inter-Integrated Circuit Bus) API.