sonar_i2c.h File Reference

Driver for an sonar rangfinder sensor when used via I2C bus. More...

#include "stdbool.h"
#include "mcu_periph/i2c.h"

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Data Structures
struct	SonarI2C

Enumerations
enum	SonarI2CStatus { SONAR_I2C_REQ_DATA , SONAR_I2C_READ_DATA , SONAR_I2C_PARSE_DATA }

Functions
void	sonar_i2c_init (void)
	Set the default values at initialization.
void	sonar_i2c_event (void)
	Rangefinder event function Basically just check the progress of the transation to prevent overruns during high speed operation (ie.
void	sonar_i2c_periodic (void)
	Get the ranger current distance value.
void	sonar_i2c_report (void)
	Option to send debug informative values over telemetry if you do not want sonar message in telemetry.

Variables
struct SonarI2C	sonar_i2c

Detailed Description

Driver for an sonar rangfinder sensor when used via I2C bus.

Driver for common sonar rangfinder devices used via I2C bus.

Definition in file sonar_i2c.h.

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Data Structure Documentation

SonarI2C

struct SonarI2C

Definition at line 38 of file sonar_i2c.h.

Collaboration diagram for SonarI2C:

Data Fields
uint8_t	addr
float	distance	Distance scaled to [m].
uint16_t	raw	raw measuread non scaled range value from sensor
enum SonarI2CStatus	status
struct i2c_transaction	trans
bool	update_agl	Do or don't update AGL ABI message.

Enumeration Type Documentation

SonarI2CStatus

enum SonarI2CStatus

Enumerator
SONAR_I2C_REQ_DATA
SONAR_I2C_READ_DATA
SONAR_I2C_PARSE_DATA

Definition at line 32 of file sonar_i2c.h.

Function Documentation

sonar_i2c_event()

void sonar_i2c_event ( void  )

extern

Rangefinder event function Basically just check the progress of the transation to prevent overruns during high speed operation (ie.

polling the sensor at more than maximum, e.g. > 10Hz)

Definition at line 142 of file sonar_i2c.c.

References I2CTransDone, I2CTransFailed, I2CTransPending, I2CTransRunning, I2CTransSuccess, sonar_i2c, sonar_i2c_report(), i2c_transaction::status, and SonarI2C::trans.

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sonar_i2c_init()

void sonar_i2c_init ( void  )

extern

Set the default values at initialization.

Definition at line 114 of file sonar_i2c.c.

References SonarI2C::addr, DefaultPeriodic, SonarI2C::distance, foo, I2CTransDone, init_median_filter_f(), SonarI2C::raw, register_periodic_telemetry(), sonar_i2c, SONAR_I2C_ADDR, sonar_i2c_filter, SONAR_I2C_MEDIAN_SIZE, SONAR_I2C_MIN_RANGE, SONAR_I2C_REQ_DATA, SONAR_I2C_SCALE, sonar_i2c_send_sonar(), i2c_transaction::status, SonarI2C::status, SonarI2C::trans, SonarI2C::update_agl, and USE_SONAR_I2C_AGL.

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sonar_i2c_periodic()

void sonar_i2c_periodic ( void  )

extern

Get the ranger current distance value.

Definition at line 169 of file sonar_i2c.c.

References SonarI2C::addr, AGL_SONAR_I2C_ID, i2c_transaction::buf, SonarI2C::distance, foo, get_sys_time_usec(), i2c_receive(), i2c_transmit(), I2CTransDone, FloatEulers::phi, SonarI2C::raw, READ_MODE_SINGLE, sonar_i2c, sonar_i2c_filter, SONAR_I2C_MAX_RANGE, SONAR_I2C_MIN_RANGE, SONAR_I2C_OFFSET, SONAR_I2C_PARSE_DATA, SONAR_I2C_READ_DATA, SONAR_I2C_REQ_DATA, SONAR_I2C_SCALE, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), i2c_transaction::status, SonarI2C::status, FloatEulers::theta, SonarI2C::trans, SonarI2C::update_agl, update_median_filter_f(), and EnuCoor_f::z.

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sonar_i2c_report()

void sonar_i2c_report ( void  )

extern

Option to send debug informative values over telemetry if you do not want sonar message in telemetry.

Definition at line 246 of file sonar_i2c.c.

References DefaultChannel, DefaultDevice, SonarI2C::distance, foo, SonarI2C::raw, and sonar_i2c.

Referenced by sonar_i2c_event().

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Variable Documentation

sonar_i2c

struct SonarI2C sonar_i2c

extern

Definition at line 101 of file sonar_i2c.c.

Referenced by sonar_i2c_event(), sonar_i2c_init(), sonar_i2c_periodic(), sonar_i2c_report(), and sonar_i2c_send_sonar().