teraranger_one.c File Reference

#include "modules/range_finder/teraranger_one.h"
#include "mcu_periph/i2c.h"
#include "subsystems/abi.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	TERARANGER_ONE_I2C_ADDR   0x60
#define	TERARANGER_ONE_OFFSET   0.f
#define	USE_TERARANGER_ONE_AGL   TRUE

Functions
static uint8_t	teraranger_crc8 (uint8_t *p, uint8_t len)
void	teraranger_init (void)
void	teraranger_periodic (void)
void	teraranger_event (void)
void	teraranger_downlink (void)

Variables
static const uint8_t	crc_table []
struct TeraRanger	teraranger
struct i2c_transaction	teraranger_i2c_trans

Detailed Description

Author

Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Driver for the TeraRanger One range finder (I2C)

Definition in file teraranger_one.c.

Macro Definition Documentation

TERARANGER_ONE_I2C_ADDR

#define TERARANGER_ONE_I2C_ADDR   0x60

Definition at line 39 of file teraranger_one.c.

TERARANGER_ONE_OFFSET

#define TERARANGER_ONE_OFFSET   0.f

Definition at line 44 of file teraranger_one.c.

USE_TERARANGER_ONE_AGL

#define USE_TERARANGER_ONE_AGL   TRUE

Definition at line 49 of file teraranger_one.c.

Function Documentation

teraranger_crc8()

static uint8_t teraranger_crc8 ( uint8_t *  p, uint8_t  len  )

static

Definition at line 76 of file teraranger_one.c.

References crc, crc_table, and p.

Referenced by teraranger_event().

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teraranger_downlink()

void teraranger_downlink

(

void

)

Definition at line 143 of file teraranger_one.c.

References DefaultChannel, DefaultDevice, TeraRanger::dist, TeraRanger::raw, and teraranger.

teraranger_event()

void teraranger_event

(

void

)

Definition at line 114 of file teraranger_one.c.

References AGL_TERARANGER_ONE_ID, i2c_transaction::buf, TeraRanger::data_available, TeraRanger::dist, get_sys_time_usec(), I2CTransDone, I2CTransFailed, I2CTransSuccess, TeraRanger::offset, TeraRanger::raw, i2c_transaction::status, teraranger, teraranger_crc8(), teraranger_i2c_trans, and USE_TERARANGER_ONE_AGL.

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teraranger_init()

void teraranger_init

(

void

)

Definition at line 95 of file teraranger_one.c.

References TeraRanger::data_available, TeraRanger::dist, I2CTransDone, TeraRanger::offset, TeraRanger::raw, i2c_transaction::status, teraranger, teraranger_i2c_trans, and TERARANGER_ONE_OFFSET.

teraranger_periodic()

void teraranger_periodic

(

void

)

Definition at line 106 of file teraranger_one.c.

References i2c_receive(), I2CTransDone, i2c_transaction::status, teraranger_i2c_trans, and TERARANGER_ONE_I2C_ADDR.

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Variable Documentation

crc_table

const uint8_t crc_table[]

static

Initial value:

= {
  0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23,
  0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41,
  0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf,
  0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85,
  0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc,
  0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
  0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, 0x27, 0x20,
  0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
  0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74,
  0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8,
  0xad, 0xaa, 0xa3, 0xa4, 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6,
  0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
  0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, 0x05, 0x02,
  0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, 0x4e, 0x49, 0x40, 0x47,
  0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39,
  0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
  0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d,
  0x84, 0x83, 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
  0xfa, 0xfd, 0xf4, 0xf3
}

Definition at line 53 of file teraranger_one.c.

Referenced by teraranger_crc8().

teraranger

struct TeraRanger teraranger

Definition at line 90 of file teraranger_one.c.

Referenced by teraranger_downlink(), teraranger_event(), and teraranger_init().

teraranger_i2c_trans

struct i2c_transaction teraranger_i2c_trans

Definition at line 93 of file teraranger_one.c.

Referenced by teraranger_event(), teraranger_init(), and teraranger_periodic().