lidar_sf11.h File Reference

driver for the Parallax SF11-A/B/C Laser Rangefinder connected over i2c bus. More...

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

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Data Structures
struct	LidarSF11

Enumerations
enum	LidarSF11Status { LIDAR_SF11_REQ_READ , LIDAR_SF11_READ_OK }

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

Detailed Description

driver for the Parallax SF11-A/B/C Laser Rangefinder connected over i2c bus.

Definition in file lidar_sf11.h.

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Data Structure Documentation

LidarSF11

struct LidarSF11

Definition at line 37 of file lidar_sf11.h.

Collaboration diagram for LidarSF11:

Data Fields
uint8_t	addr
bool	compensate_rotation
float	distance
uint32_t	distance_raw
enum LidarSF11Status	status
struct i2c_transaction	trans
bool	update_agl

Enumeration Type Documentation

LidarSF11Status

enum LidarSF11Status

Enumerator
LIDAR_SF11_REQ_READ
LIDAR_SF11_READ_OK

Definition at line 32 of file lidar_sf11.h.

Function Documentation

lidar_sf11_downlink()

void lidar_sf11_downlink

(

void

)

Downlink message for debug.

Definition at line 134 of file lidar_sf11.c.

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

lidar_sf11_event()

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, i2c_transaction::status, LidarSF11::status, and LidarSF11::trans.

lidar_sf11_init()

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, i2c_transaction::status, LidarSF11::status, LidarSF11::trans, and LidarSF11::update_agl.

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lidar_sf11_periodic()

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, get_sys_time_usec(), 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

lidar_sf11

struct LidarSF11 lidar_sf11

extern

Definition at line 1 of file lidar_sf11.c.

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