Paparazzi UAS  v5.15_devel-81-gd13dafb
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teraranger_one.c
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1 /*
2  * Copyright (C) Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
27 #include "mcu_periph/i2c.h"
28 #include "subsystems/abi.h"
30 
31 // check if I2C device is selected
32 #ifndef TERARANGER_ONE_I2C_DEV
33 #error TERARANGER_ONE_I2C_DEV needs to be defined
34 #endif
35 PRINT_CONFIG_VAR(TERARANGER_ONE_I2C_DEV)
36 
37 // default base address on 8 bits
38 #ifndef TERARANGER_ONE_I2C_ADDR
39 #define TERARANGER_ONE_I2C_ADDR 0x60
40 #endif
41 
42 // add an offset to the measurments (in meters)
43 #ifndef TERARANGER_ONE_OFFSET
44 #define TERARANGER_ONE_OFFSET 0.f
45 #endif
46 
47 // send AGL data over ABI
48 #ifndef USE_TERARANGER_ONE_AGL
49 #define USE_TERARANGER_ONE_AGL TRUE
50 #endif
51 
52 // CRC8 table used to check data validity
53 static const uint8_t crc_table[] = {
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
73 };
74 
75 // CRC check function
77 {
78  uint16_t i;
79  uint16_t crc = 0x0;
80 
81  while (len--)
82  {
83  i = (crc ^ *p++) & 0xFF;
84  crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
85  }
86  return crc & 0xFF;
87 }
88 
89 // data stucture
91 
92 // private data
94 
95 void teraranger_init(void)
96 {
97  teraranger.raw = 0;
98  teraranger.dist = 0.f;
100  teraranger.data_available = false;
101 
103 }
104 
105 // data are available in continous reading
107 {
108  // next reading
110  i2c_receive(&TERARANGER_ONE_I2C_DEV, &teraranger_i2c_trans, TERARANGER_ONE_I2C_ADDR, 3);
111  }
112 }
113 
115 {
117  // check if CRC is valid
119  // raw value
120  teraranger.raw =
121  ((uint16_t)(teraranger_i2c_trans.buf[0]) << 8) |
123  // check if data is within ranges
124  if (teraranger.raw != 0) {
125  teraranger.dist = (float)teraranger.raw / 1000.f + teraranger.offset;
126  teraranger.data_available = true;
128  uint32_t now_ts = get_sys_time_usec();
129  AbiSendMsgAGL(AGL_TERARANGER_ONE_ID, now_ts, teraranger.dist);
130 #endif
131  } else {
132  // data are not valid any more
133  teraranger.data_available = false;
134  }
135  }
138  // retry if failed
140  }
141 }
142 
144 {
145  DOWNLINK_SEND_SONAR(DefaultChannel, DefaultDevice, &teraranger.raw, &teraranger.dist);
146 }
147 
uint16_t raw
raw distance in mm
unsigned short uint16_t
Definition: types.h:16
volatile uint8_t buf[I2C_BUF_LEN]
Transaction buffer With I2C_BUF_LEN number of bytes.
Definition: i2c.h:122
#define USE_TERARANGER_ONE_AGL
transaction successfully finished by I2C driver
Definition: i2c.h:57
Main include for ABI (AirBorneInterface).
void teraranger_periodic(void)
struct i2c_transaction teraranger_i2c_trans
void teraranger_downlink(void)
#define TERARANGER_ONE_I2C_ADDR
void teraranger_init(void)
bool data_available
transaction set to done by user level
Definition: i2c.h:59
#define AGL_TERARANGER_ONE_ID
unsigned long uint32_t
Definition: types.h:18
transaction failed
Definition: i2c.h:58
I2C transaction structure.
Definition: i2c.h:93
enum I2CTransactionStatus status
Transaction status.
Definition: i2c.h:126
unsigned char uint8_t
Definition: types.h:14
static const uint8_t crc_table[]
bool i2c_receive(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint16_t len)
Submit a read only transaction.
Definition: i2c.c:318
static float p[2][2]
void teraranger_event(void)
struct TeraRanger teraranger
#define TERARANGER_ONE_OFFSET
float dist
scaled distance in m
float offset
offset in m
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
static uint8_t teraranger_crc8(uint8_t *p, uint8_t len)
Architecture independent I2C (Inter-Integrated Circuit Bus) API.