Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
mateksys_3901_l0x.h
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1 /*
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4  * This file is part of paparazzi.
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21  */
22 
28 /*
29 Since the is no official MSP2 nor MSP1 message definition we choose for time being that
30 the IDs to be compatible with INAV as see here
31 https://github.com/iNavFlight/inav/blob/master/src/main/msp/msp_protocol_v2_sensor.h
32 https://github.com/iNavFlight/inav/wiki/MSP-V2
33 */
34 
35 #ifndef MATEKSYS_3901_L0X_H
36 #define MATEKSYS_3901_L0X_H
37 
38 #include "std.h"
39 #include "stdbool.h"
40 //#include "filters/median_filter.h" //Who knows we need it ;)
41 
42 #define MSP2_IS_SENSOR_MESSAGE(x) ((x) >= 0x1F00 && (x) <= 0x1FFF)
43 
44 #define MSP2_SENSOR_RANGEFINDER 0x1F01
45 #define MSP2_SENSOR_OPTIC_FLOW 0x1F02
46 
48  MATEKSYS_3901_L0X_INITIALIZE, // initialization
57  MATEKSYS_3901_L0X_PARSE_DISTANCEQUALITY, // used if lidar message
62  MATEKSYS_3901_L0X_PARSE_MOTIONQUALITY, // used if flow message
72 };
73 
75  struct link_device *device;
77  float time_sec;
87  float velocityX;
88  float velocityY;
90 };
91 
92 extern struct Mateksys3901l0X mateksys3901l0x;
93 
94 extern void mateksys3901l0x_init(void);
95 extern void mateksys3901l0x_event(void);
96 extern void mateksys3901l0x_downlink(void);
97 
98 #endif /* MATEKSYS_3901_L0X_H */
99 
Mateksys3901l0X::parse_status
enum Mateksys3901l0XParseStatus parse_status
Definition: mateksys_3901_l0x.h:76
Mateksys3901l0X::distancemm
int32_t distancemm
Definition: mateksys_3901_l0x.h:85
MATEKSYS_3901_L0X_PARSE_CHECKSUM
@ MATEKSYS_3901_L0X_PARSE_CHECKSUM
Definition: mateksys_3901_l0x.h:71
MATEKSYS_3901_L0X_PARSE_MOTIONY_B3
@ MATEKSYS_3901_L0X_PARSE_MOTIONY_B3
Definition: mateksys_3901_l0x.h:65
Mateksys3901l0X::motionY_clean
int32_t motionY_clean
Definition: mateksys_3901_l0x.h:83
Mateksys3901l0X::motion_quality
uint8_t motion_quality
Definition: mateksys_3901_l0x.h:79
mateksys3901l0x
struct Mateksys3901l0X mateksys3901l0x
Definition: mateksys_3901_l0x.c:61
MATEKSYS_3901_L0X_PARSE_DISTANCE_B1
@ MATEKSYS_3901_L0X_PARSE_DISTANCE_B1
Definition: mateksys_3901_l0x.h:58
MATEKSYS_3901_L0X_PARSE_LENGTH
@ MATEKSYS_3901_L0X_PARSE_LENGTH
Definition: mateksys_3901_l0x.h:52
mateksys3901l0x_downlink
void mateksys3901l0x_downlink(void)
MATEKSYS_3901_L0X_PARSE_HEAD2
@ MATEKSYS_3901_L0X_PARSE_HEAD2
Definition: mateksys_3901_l0x.h:50
Mateksys3901l0X::sensor_id
uint8_t sensor_id
Definition: mateksys_3901_l0x.h:78
MATEKSYS_3901_L0X_PARSE_DISTANCE_B2
@ MATEKSYS_3901_L0X_PARSE_DISTANCE_B2
Definition: mateksys_3901_l0x.h:59
MATEKSYS_3901_L0X_PARSE_DISTANCE_B4
@ MATEKSYS_3901_L0X_PARSE_DISTANCE_B4
Definition: mateksys_3901_l0x.h:61
Mateksys3901l0X::velocityY
float velocityY
Definition: mateksys_3901_l0x.h:88
MATEKSYS_3901_L0X_PARSE_DISTANCE_B3
@ MATEKSYS_3901_L0X_PARSE_DISTANCE_B3
Definition: mateksys_3901_l0x.h:60
MATEKSYS_3901_L0X_PARSE_POINTER
@ MATEKSYS_3901_L0X_PARSE_POINTER
Definition: mateksys_3901_l0x.h:56
MATEKSYS_3901_L0X_PARSE_DISTANCEQUALITY
@ MATEKSYS_3901_L0X_PARSE_DISTANCEQUALITY
Definition: mateksys_3901_l0x.h:57
Mateksys3901l0X::device
struct link_device * device
Definition: mateksys_3901_l0x.h:75
std.h
MATEKSYS_3901_L0X_PARSE_MOTIONX_B4
@ MATEKSYS_3901_L0X_PARSE_MOTIONX_B4
Definition: mateksys_3901_l0x.h:70
MATEKSYS_3901_L0X_INITIALIZE
@ MATEKSYS_3901_L0X_INITIALIZE
Definition: mateksys_3901_l0x.h:48
Mateksys3901l0X::motionX_clean
int32_t motionX_clean
Definition: mateksys_3901_l0x.h:82
MATEKSYS_3901_L0X_PARSE_MOTIONX_B3
@ MATEKSYS_3901_L0X_PARSE_MOTIONX_B3
Definition: mateksys_3901_l0x.h:69
MATEKSYS_3901_L0X_PARSE_DIRECTION
@ MATEKSYS_3901_L0X_PARSE_DIRECTION
Definition: mateksys_3901_l0x.h:51
uint8_t
unsigned char uint8_t
Definition: types.h:14
Mateksys3901l0X::distance_clean
float distance_clean
Definition: mateksys_3901_l0x.h:86
mateksys3901l0x_event
void mateksys3901l0x_event(void)
Receive bytes from the UART port and parse them.
Definition: mateksys_3901_l0x.c:111
MATEKSYS_3901_L0X_PARSE_MOTIONX_B2
@ MATEKSYS_3901_L0X_PARSE_MOTIONX_B2
Definition: mateksys_3901_l0x.h:68
Mateksys3901l0X
Definition: mateksys_3901_l0x.h:74
MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B1
@ MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B1
Definition: mateksys_3901_l0x.h:53
MATEKSYS_3901_L0X_PARSE_MOTIONY_B1
@ MATEKSYS_3901_L0X_PARSE_MOTIONY_B1
Definition: mateksys_3901_l0x.h:63
MATEKSYS_3901_L0X_PARSE_MOTIONY_B2
@ MATEKSYS_3901_L0X_PARSE_MOTIONY_B2
Definition: mateksys_3901_l0x.h:64
Mateksys3901l0X::distancemm_quality
uint8_t distancemm_quality
Definition: mateksys_3901_l0x.h:84
MATEKSYS_3901_L0X_PARSE_MOTIONQUALITY
@ MATEKSYS_3901_L0X_PARSE_MOTIONQUALITY
Definition: mateksys_3901_l0x.h:62
mateksys3901l0x_init
void mateksys3901l0x_init(void)
Initialization function.
Definition: mateksys_3901_l0x.c:92
Mateksys3901l0X::parse_crc
uint8_t parse_crc
Definition: mateksys_3901_l0x.h:89
Mateksys3901l0XParseStatus
Mateksys3901l0XParseStatus
Definition: mateksys_3901_l0x.h:47
MATEKSYS_3901_L0X_PARSE_MOTIONX_B1
@ MATEKSYS_3901_L0X_PARSE_MOTIONX_B1
Definition: mateksys_3901_l0x.h:67
MATEKSYS_3901_L0X_PARSE_SIZE
@ MATEKSYS_3901_L0X_PARSE_SIZE
Definition: mateksys_3901_l0x.h:55
Mateksys3901l0X::velocityX
float velocityX
Definition: mateksys_3901_l0x.h:87
int32_t
signed long int32_t
Definition: types.h:19
MATEKSYS_3901_L0X_PARSE_HEAD
@ MATEKSYS_3901_L0X_PARSE_HEAD
Definition: mateksys_3901_l0x.h:49
MATEKSYS_3901_L0X_PARSE_MOTIONY_B4
@ MATEKSYS_3901_L0X_PARSE_MOTIONY_B4
Definition: mateksys_3901_l0x.h:66
Mateksys3901l0X::time_sec
float time_sec
Definition: mateksys_3901_l0x.h:77
Mateksys3901l0X::motionX
int32_t motionX
Definition: mateksys_3901_l0x.h:80
Mateksys3901l0X::motionY
int32_t motionY
Definition: mateksys_3901_l0x.h:81
MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B2
@ MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B2
Definition: mateksys_3901_l0x.h:54