sonar_bebop.h File Reference

Parrot Bebop Sonar driver. More...

#include "std.h"

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Data Structures
struct	SonarBebop

Functions
void	sonar_bebop_init (void)
void	sonar_bebop_event (void)

Variables
struct SonarBebop	sonar_bebop

Detailed Description

Parrot Bebop Sonar driver.

Definition in file sonar_bebop.h.

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Data Structure Documentation

SonarBebop

struct SonarBebop

Definition at line 32 of file sonar_bebop.h.

Data Fields
bool	available	New data available.
float	distance	Distance measured in meters.
uint16_t	meas	Raw ADC value.
uint16_t	offset	Sonar offset in ADC units.

Function Documentation

sonar_bebop_event()

void sonar_bebop_event

(

void

)

Definition at line 146 of file sonar_bebop.c.

References AGL_SONAR_ADC_ID, SonarBebop::available, DefaultChannel, DefaultDevice, SonarBebop::distance, get_sys_time_usec(), SonarBebop::meas, FloatEulers::phi, sonar_bebop, sonar_mutex, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

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sonar_bebop_init()

void sonar_bebop_init

(

void

)

Definition at line 113 of file sonar_bebop.c.

References SonarBebop::available, spi_transaction::dss, init_median_filter_f(), spi_transaction::input_buf, spi_transaction::input_length, SonarBebop::meas, mode, SonarBebop::offset, spi_transaction::output_buf, spi_transaction::output_length, pulse_transition_counter, spi_transaction::select, sonar_bebop, sonar_bebop_read(), sonar_bebop_spi_d, sonar_bebop_spi_t, sonar_bebop_spike_timer, sonar_filt, sonar_mutex, SPIDss8bit, SPISelectUnselect, SPITransDone, spi_transaction::status, and SysTimeTimerStart.

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Variable Documentation

sonar_bebop

struct SonarBebop sonar_bebop

extern

Definition at line 101 of file sonar_bebop.c.

Referenced by sonar_bebop_event(), sonar_bebop_init(), and sonar_bebop_read().