mateksys_3901_l0x.h File Reference

Driver for the mateksys_3901_l0x sensor via MSP protocol output. More...

#include "std.h"
#include "stdbool.h"

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Data Structures
struct	Mateksys3901l0X

Macros
#define	MSP2_IS_SENSOR_MESSAGE(x)   ((x) >= 0x1F00 && (x) <= 0x1FFF)
#define	MSP2_SENSOR_RANGEFINDER   0x1F01
#define	MSP2_SENSOR_OPTIC_FLOW   0x1F02

Enumerations
enum	Mateksys3901l0XParseStatus {   MATEKSYS_3901_L0X_INITIALIZE, MATEKSYS_3901_L0X_PARSE_HEAD, MATEKSYS_3901_L0X_PARSE_HEAD2, MATEKSYS_3901_L0X_PARSE_DIRECTION,   MATEKSYS_3901_L0X_PARSE_LENGTH, MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B1, MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B2, MATEKSYS_3901_L0X_PARSE_SIZE,   MATEKSYS_3901_L0X_PARSE_POINTER, MATEKSYS_3901_L0X_PARSE_DISTANCEQUALITY, MATEKSYS_3901_L0X_PARSE_DISTANCE_B1, MATEKSYS_3901_L0X_PARSE_DISTANCE_B2,   MATEKSYS_3901_L0X_PARSE_DISTANCE_B3, MATEKSYS_3901_L0X_PARSE_DISTANCE_B4, MATEKSYS_3901_L0X_PARSE_MOTIONQUALITY, MATEKSYS_3901_L0X_PARSE_MOTIONY_B1,   MATEKSYS_3901_L0X_PARSE_MOTIONY_B2, MATEKSYS_3901_L0X_PARSE_MOTIONY_B3, MATEKSYS_3901_L0X_PARSE_MOTIONY_B4, MATEKSYS_3901_L0X_PARSE_MOTIONX_B1,   MATEKSYS_3901_L0X_PARSE_MOTIONX_B2, MATEKSYS_3901_L0X_PARSE_MOTIONX_B3, MATEKSYS_3901_L0X_PARSE_MOTIONX_B4, MATEKSYS_3901_L0X_PARSE_CHECKSUM }

Functions
void	mateksys3901l0x_init (void)
	Initialization function. More...
void	mateksys3901l0x_event (void)
	Receive bytes from the UART port and parse them. More...
void	mateksys3901l0x_downlink (void)
void	mateksys_3901_l0x_scale_X (float scalex)
	Scale the Flow X. More...
void	mateksys_3901_l0x_scale_Y (float scaley)
	Scale the Flow Y. More...

Variables
struct Mateksys3901l0X	mateksys3901l0x

Detailed Description

Driver for the mateksys_3901_l0x sensor via MSP protocol output.

Driver for the mateksys_3901_l0x sensor via MSPx protocol output.

Definition in file mateksys_3901_l0x.h.

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Data Structure Documentation

Mateksys3901l0X

struct Mateksys3901l0X

Definition at line 72 of file mateksys_3901_l0x.h.

Collaboration diagram for Mateksys3901l0X:

Data Fields
struct link_device *	device
float	distance_compensated
float	distancemm
uint8_t	distancemm_quality
int32_t	distancemm_temp
uint8_t	motion_quality
int32_t	motionX
int32_t	motionX_temp
int32_t	motionY
int32_t	motionY_temp
uint8_t	parse_crc
enum Mateksys3901l0XParseStatus	parse_status
float	scaler_x
float	scaler_y
uint8_t	sensor_id
float	time_usec
float	velocityX
float	velocityY

Macro Definition Documentation

MSP2_IS_SENSOR_MESSAGE

#define MSP2_IS_SENSOR_MESSAGE

(

x

)

((x) >= 0x1F00 && (x) <= 0x1FFF)

Definition at line 40 of file mateksys_3901_l0x.h.

MSP2_SENSOR_OPTIC_FLOW

#define MSP2_SENSOR_OPTIC_FLOW   0x1F02

Definition at line 43 of file mateksys_3901_l0x.h.

MSP2_SENSOR_RANGEFINDER

#define MSP2_SENSOR_RANGEFINDER   0x1F01

Definition at line 42 of file mateksys_3901_l0x.h.

Enumeration Type Documentation

Mateksys3901l0XParseStatus

enum Mateksys3901l0XParseStatus

Enumerator
MATEKSYS_3901_L0X_INITIALIZE
MATEKSYS_3901_L0X_PARSE_HEAD
MATEKSYS_3901_L0X_PARSE_HEAD2
MATEKSYS_3901_L0X_PARSE_DIRECTION
MATEKSYS_3901_L0X_PARSE_LENGTH
MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B1
MATEKSYS_3901_L0X_PARSE_FUNCTION_ID_B2
MATEKSYS_3901_L0X_PARSE_SIZE
MATEKSYS_3901_L0X_PARSE_POINTER
MATEKSYS_3901_L0X_PARSE_DISTANCEQUALITY
MATEKSYS_3901_L0X_PARSE_DISTANCE_B1
MATEKSYS_3901_L0X_PARSE_DISTANCE_B2
MATEKSYS_3901_L0X_PARSE_DISTANCE_B3
MATEKSYS_3901_L0X_PARSE_DISTANCE_B4
MATEKSYS_3901_L0X_PARSE_MOTIONQUALITY
MATEKSYS_3901_L0X_PARSE_MOTIONY_B1
MATEKSYS_3901_L0X_PARSE_MOTIONY_B2
MATEKSYS_3901_L0X_PARSE_MOTIONY_B3
MATEKSYS_3901_L0X_PARSE_MOTIONY_B4
MATEKSYS_3901_L0X_PARSE_MOTIONX_B1
MATEKSYS_3901_L0X_PARSE_MOTIONX_B2
MATEKSYS_3901_L0X_PARSE_MOTIONX_B3
MATEKSYS_3901_L0X_PARSE_MOTIONX_B4
MATEKSYS_3901_L0X_PARSE_CHECKSUM

Definition at line 45 of file mateksys_3901_l0x.h.

Function Documentation

mateksys3901l0x_downlink()

void mateksys3901l0x_downlink

(

void

)

mateksys3901l0x_event()

void mateksys3901l0x_event

(

void

)

Receive bytes from the UART port and parse them.

Definition at line 151 of file mateksys_3901_l0x.c.

References Mateksys3901l0X::device, mateksys3901l0x, mateksys3901l0x_parse(), MATEKSYS_3901_L0X_INITIALIZE, and Mateksys3901l0X::parse_status.

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mateksys3901l0x_init()

void mateksys3901l0x_init

(

void

)

Initialization function.

Definition at line 110 of file mateksys_3901_l0x.c.

References DefaultPeriodic, Mateksys3901l0X::device, Mateksys3901l0X::distance_compensated, Mateksys3901l0X::distancemm, Mateksys3901l0X::distancemm_quality, Mateksys3901l0X::distancemm_temp, mateksys3901l0x, mateksys3901l0x_send_optical_flow(), MATEKSYS_3901_L0X_FLOW_X_SCALER, MATEKSYS_3901_L0X_FLOW_Y_SCALER, MATEKSYS_3901_L0X_PARSE_HEAD, Mateksys3901l0X::motion_quality, Mateksys3901l0X::motionX, Mateksys3901l0X::motionX_temp, Mateksys3901l0X::motionY, Mateksys3901l0X::motionY_temp, Mateksys3901l0X::parse_crc, Mateksys3901l0X::parse_status, register_periodic_telemetry(), Mateksys3901l0X::scaler_x, and Mateksys3901l0X::scaler_y.

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mateksys_3901_l0x_scale_X()

void mateksys_3901_l0x_scale_X

(

float

scalex

)

Scale the Flow X.

Definition at line 135 of file mateksys_3901_l0x.c.

References mateksys3901l0x, and Mateksys3901l0X::scaler_x.

mateksys_3901_l0x_scale_Y()

void mateksys_3901_l0x_scale_Y

(

float

scaley

)

Scale the Flow Y.

Definition at line 143 of file mateksys_3901_l0x.c.

References mateksys3901l0x, and Mateksys3901l0X::scaler_y.

Variable Documentation

mateksys3901l0x

struct Mateksys3901l0X mateksys3901l0x

Definition at line 78 of file mateksys_3901_l0x.c.

Referenced by mateksys3901l0x_event(), mateksys3901l0x_init(), mateksys3901l0x_parse(), mateksys3901l0x_send_optical_flow(), mateksys_3901_l0x_scale_X(), and mateksys_3901_l0x_scale_Y().