range_sensor_uavcan.c File Reference

Range sensor on the uavcan bus. More...

#include "range_sensor_uavcan.h"
#include "uavcan/uavcan.h"
#include "core/abi.h"
#include "modules/datalink/telemetry.h"

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Data Structures
struct	range_sensor_uavcan_t

Macros
#define	UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID   1050
#define	UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE   (0x68FFFE70FC771952ULL)
#define	UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_MAX_SIZE   ((120 + 7)/8)

Functions
static void	range_sensor_uavcan_send_lidar (struct transport_tx *trans, struct link_device *dev)
static void	range_sensor_uavcan_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
void	range_sensor_uavcan_init (void)

Variables
static struct range_sensor_uavcan_t	range_sensor_uavcan = {0}
static uavcan_event	range_sensor_uavcan_ev

Detailed Description

Range sensor on the uavcan bus.

Definition in file range_sensor_uavcan.c.

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Data Structure Documentation

range_sensor_uavcan_t

struct range_sensor_uavcan_t

Definition at line 37 of file range_sensor_uavcan.c.

Data Fields
float	range
uint8_t	reading_type

Macro Definition Documentation

UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID

#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID   1050

Definition at line 32 of file range_sensor_uavcan.c.

UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_MAX_SIZE

#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_MAX_SIZE   ((120 + 7)/8)

Definition at line 34 of file range_sensor_uavcan.c.

UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE

#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE   (0x68FFFE70FC771952ULL)

Definition at line 33 of file range_sensor_uavcan.c.

Function Documentation

range_sensor_uavcan_cb()

static void range_sensor_uavcan_cb ( struct uavcan_iface_t *  iface, CanardRxTransfer *  transfer  )

static

Definition at line 60 of file range_sensor_uavcan.c.

References AGL_UAVCAN_ID, get_sys_time_usec(), range_sensor_uavcan_t::range, range_sensor_uavcan, range_sensor_uavcan_t::reading_type, and transfer().

Referenced by range_sensor_uavcan_init().

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range_sensor_uavcan_init()

void range_sensor_uavcan_init

(

void

)

Definition at line 84 of file range_sensor_uavcan.c.

References DefaultPeriodic, range_sensor_uavcan_cb(), range_sensor_uavcan_ev, range_sensor_uavcan_send_lidar(), register_periodic_telemetry(), uavcan_bind(), UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID, and UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE.

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range_sensor_uavcan_send_lidar()

static void range_sensor_uavcan_send_lidar ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 49 of file range_sensor_uavcan.c.

References dev, range_sensor_uavcan_t::range, range_sensor_uavcan, and range_sensor_uavcan_t::reading_type.

Referenced by range_sensor_uavcan_init().

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Variable Documentation

range_sensor_uavcan

struct range_sensor_uavcan_t range_sensor_uavcan = {0}

static

Definition at line 1 of file range_sensor_uavcan.c.

Referenced by range_sensor_uavcan_cb(), and range_sensor_uavcan_send_lidar().

range_sensor_uavcan_ev

uavcan_event range_sensor_uavcan_ev

static

Definition at line 44 of file range_sensor_uavcan.c.

Referenced by range_sensor_uavcan_init().