lidar_sf11.c File Reference

#include "modules/lidar/lidar_sf11.h"
#include "subsystems/abi.h"
#include "filters/median_filter.h"
#include "state.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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Functions
void	lidar_sf11_init (void)
	Initialization function. More...
void	lidar_sf11_event (void)
	Lidar event function Check if the transaction succeded before reading the result. More...
void	lidar_sf11_periodic (void)
	Poll lidar for data. More...
void	lidar_sf11_downlink (void)
	Downlink message for debug. More...

Variables
struct LidarSF11	lidar_sf11
struct MedianFilterInt	lidar_sf11_filter

Function Documentation

void lidar_sf11_downlink

(

void

)

Downlink message for debug.

Definition at line 132 of file lidar_sf11.c.

References DefaultChannel, DefaultDevice, LidarSF11::distance, lidar_sf11, LidarSF11::status, i2c_transaction::status, and LidarSF11::trans.

void lidar_sf11_event

(

void

)

Lidar event function Check if the transaction succeded before reading the result.

Definition at line 62 of file lidar_sf11.c.

References I2CTransDone, I2CTransFailed, I2CTransPending, I2CTransRunning, I2CTransSuccess, lidar_sf11, LIDAR_SF11_READ_OK, LidarSF11::status, i2c_transaction::status, and LidarSF11::trans.

void lidar_sf11_init

(

void

)

Initialization function.

Definition at line 44 of file lidar_sf11.c.

References LidarSF11::addr, LidarSF11::compensate_rotation, LidarSF11::distance, LidarSF11::distance_raw, I2CTransDone, init_median_filter_i(), lidar_sf11, lidar_sf11_filter, LIDAR_SF11_REQ_READ, MEDIAN_DEFAULT_SIZE, LidarSF11::status, i2c_transaction::status, LidarSF11::trans, and LidarSF11::update_agl.

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void lidar_sf11_periodic

(

void

)

Poll lidar for data.

Definition at line 92 of file lidar_sf11.c.

References LidarSF11::addr, AGL_LIDAR_SF11_ID, i2c_transaction::buf, LidarSF11::compensate_rotation, LidarSF11::distance, LidarSF11::distance_raw, i2c_transceive(), lidar_sf11, lidar_sf11_filter, LIDAR_SF11_READ_OK, LIDAR_SF11_REQ_READ, FloatEulers::phi, stateGetNedToBodyEulers_f(), LidarSF11::status, FloatEulers::theta, LidarSF11::trans, LidarSF11::update_agl, and update_median_filter_i().

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Variable Documentation

struct LidarSF11 lidar_sf11

Definition at line 37 of file lidar_sf11.c.

Referenced by lidar_sf11_downlink(), lidar_sf11_event(), lidar_sf11_init(), and lidar_sf11_periodic().

struct MedianFilterInt lidar_sf11_filter

Definition at line 38 of file lidar_sf11.c.

Referenced by lidar_sf11_init(), and lidar_sf11_periodic().