tfmini.h File Reference

driver for the TFMini lidar More...

#include "std.h"
#include "mcu_periph/i2c.h"
#include "math/pprz_algebra_float.h"

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Data Structures
struct	TFMini

Enumerations
enum	TFMiniParseStatus {   TFMINI_INITIALIZE , TFMINI_PARSE_HEAD , TFMINI_PARSE_HEAD2 , TFMINI_PARSE_DIST_L ,   TFMINI_PARSE_DIST_H , TFMINI_PARSE_STRENGTH_L , TFMINI_PARSE_STRENGTH_H , TFMINI_PARSE_MODE ,   TFMINI_PARSE_BYTE7 , TFMINI_PARSE_CHECKSUM }

Functions
void	tfmini_init (void)
	Initialization function.
void	tfmini_event (void)
	Lidar event function Receive bytes from the UART port and parse them.
void	tfmini_send_abi (void)
void	tfmini_parse (uint8_t byte)
	Parse the lidar bytes 1 by 1.

Variables
struct TFMini	tfmini

Detailed Description

driver for the TFMini lidar

Definition in file tfmini.h.

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Data Structure Documentation

TFMini

struct TFMini

Definition at line 48 of file tfmini.h.

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Data Fields
bool	compensate_rotation
struct link_device *	device
float	distance
bool	is_rover
uint8_t	mode
uint8_t	parse_crc
enum TFMiniParseStatus	parse_status
uint16_t	raw_dist
uint8_t	raw_mode
uint16_t	raw_strength
uint16_t	strength
bool	update_agl

Enumeration Type Documentation

TFMiniParseStatus

enum TFMiniParseStatus

Enumerator
TFMINI_INITIALIZE
TFMINI_PARSE_HEAD
TFMINI_PARSE_HEAD2
TFMINI_PARSE_DIST_L
TFMINI_PARSE_DIST_H
TFMINI_PARSE_STRENGTH_L
TFMINI_PARSE_STRENGTH_H
TFMINI_PARSE_MODE
TFMINI_PARSE_BYTE7
TFMINI_PARSE_CHECKSUM

Definition at line 35 of file tfmini.h.

Function Documentation

tfmini_event()

void tfmini_event ( void  )

extern

Lidar event function Receive bytes from the UART port and parse them.

Definition at line 102 of file tfmini.c.

References TFMini::device, TFMini::parse_status, sim_overwrite_lidar(), tfmini, TFMINI_INITIALIZE, and tfmini_parse().

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tfmini_init()

void tfmini_init ( void  )

extern

Initialization function.

Definition at line 77 of file tfmini.c.

References TFMini::compensate_rotation, DefaultPeriodic, TFMini::device, TFMini::distance, foo, TFMini::is_rover, LIDAR_HEIGHT, lidar_height, LIDAR_OFFSET, lidar_offset, TFMini::parse_status, register_periodic_telemetry(), TFMini::strength, tfmini, TFMINI_PARSE_HEAD, tfmini_send_lidar(), tfmini_send_lidar(), and TFMini::update_agl.

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tfmini_parse()

void tfmini_parse ( uint8_t  byte )

extern

Parse the lidar bytes 1 by 1.

Definition at line 113 of file tfmini.c.

References byte, TFMini::compensate_rotation, TFMini::distance, foo, TFMini::is_rover, lidar_height, lidar_offset, TFMini::mode, TFMini::parse_crc, TFMini::parse_status, FloatEulers::phi, TFMini::raw_dist, TFMini::raw_mode, TFMini::raw_strength, stateGetNedToBodyEulers_f(), TFMini::strength, tfmini, TFMINI_INITIALIZE, TFMINI_PARSE_BYTE7, TFMINI_PARSE_CHECKSUM, TFMINI_PARSE_DIST_H, TFMINI_PARSE_DIST_L, TFMINI_PARSE_HEAD, TFMINI_PARSE_HEAD2, TFMINI_PARSE_MODE, TFMINI_PARSE_STRENGTH_H, TFMINI_PARSE_STRENGTH_L, tfmini_send_abi(), and FloatEulers::theta.

Referenced by tfmini_event().

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tfmini_send_abi()

void tfmini_send_abi ( void  )

extern

Definition at line 217 of file tfmini.c.

References AGL_LIDAR_TFMINI_ID, TFMini::distance, foo, get_sys_time_usec(), tfmini, and TFMini::update_agl.

Referenced by setLidarDistance_f(), and tfmini_parse().

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Variable Documentation

tfmini

struct TFMini tfmini

extern

Definition at line 53 of file tfmini.c.

Referenced by setLidarDistance_f(), tfmini_event(), tfmini_init(), tfmini_parse(), tfmini_send_abi(), tfmini_send_lidar(), and tfmini_send_lidar().