32 #ifndef TERARANGER_ONE_I2C_DEV
33 #error TERARANGER_ONE_I2C_DEV needs to be defined
38 #ifndef TERARANGER_ONE_I2C_ADDR
39 #define TERARANGER_ONE_I2C_ADDR 0x60
43 #ifndef TERARANGER_ONE_OFFSET
44 #define TERARANGER_ONE_OFFSET 0.f
48 #ifndef USE_TERARANGER_ONE_AGL
49 #define USE_TERARANGER_ONE_AGL TRUE
54 0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23,
55 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41,
56 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf,
57 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85,
58 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc,
59 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
60 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, 0x27, 0x20,
61 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
62 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74,
63 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8,
64 0xad, 0xaa, 0xa3, 0xa4, 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6,
65 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
66 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, 0x05, 0x02,
67 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, 0x4e, 0x49, 0x40, 0x47,
68 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39,
69 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
70 0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d,
71 0x84, 0x83, 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
72 0xfa, 0xfd, 0xf4, 0xf3
83 i = (
crc ^ *
p++) & 0xFF;
Main include for ABI (AirBorneInterface).
#define AGL_TERARANGER_ONE_ID
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Common code for AP and FBW telemetry.
volatile uint8_t buf[I2C_BUF_LEN]
Transaction buffer With I2C_BUF_LEN number of bytes.
enum I2CTransactionStatus status
Transaction status.
bool i2c_receive(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint16_t len)
Submit a read only transaction.
@ I2CTransSuccess
transaction successfully finished by I2C driver
@ I2CTransFailed
transaction failed
@ I2CTransDone
transaction set to done by user level
I2C transaction structure.
Architecture independent I2C (Inter-Integrated Circuit Bus) API.
PRINT_CONFIG_VAR(ONELOOP_ANDI_FILT_CUTOFF)
void teraranger_event(void)
void teraranger_downlink(void)
struct TeraRanger teraranger
static const uint8_t crc_table[]
#define USE_TERARANGER_ONE_AGL
#define TERARANGER_ONE_I2C_ADDR
void teraranger_periodic(void)
struct i2c_transaction teraranger_i2c_trans
static uint8_t teraranger_crc8(uint8_t *p, uint8_t len)
#define TERARANGER_ONE_OFFSET
void teraranger_init(void)
uint16_t raw
raw distance in mm
float dist
scaled distance in m
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.