tfmini.c File Reference

driver for the TFMini lidar More...

#include "tfmini.h"
#include "mcu_periph/uart.h"
#include "modules/core/abi.h"
#include "state.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	LIDAR_OFFSET   0.0f
#define	LIDAR_HEIGHT   0.0f

Functions
static void	tfmini_send_lidar (struct transport_tx *trans, struct link_device *dev)
	Downlink message lidar.
void	tfmini_init (void)
	Initialization function.
void	tfmini_event (void)
	Lidar event function Receive bytes from the UART port and parse them.
void	tfmini_parse (uint8_t byte)
	Parse the lidar bytes 1 by 1.
void	tfmini_send_abi (void)

Variables
static float	lidar_offset
static float	lidar_height
struct TFMini	tfmini

Detailed Description

driver for the TFMini lidar

Definition in file tfmini.c.

Macro Definition Documentation

LIDAR_HEIGHT

#define LIDAR_HEIGHT   0.0f

Definition at line 47 of file tfmini.c.

LIDAR_OFFSET

#define LIDAR_OFFSET   0.0f

Definition at line 42 of file tfmini.c.

Function Documentation

tfmini_event()

void tfmini_event

(

void

)

Lidar event function Receive bytes from the UART port and parse them.

Definition at line 102 of file tfmini.c.

References TFMini::device, TFMini::parse_status, tfmini, TFMINI_INITIALIZE, and tfmini_parse().

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tfmini_init()

void tfmini_init

(

void

)

Initialization function.

Definition at line 77 of file tfmini.c.

References TFMini::compensate_rotation, DefaultPeriodic, TFMini::device, TFMini::distance, foo, TFMini::is_rover, LIDAR_HEIGHT, lidar_height, LIDAR_OFFSET, lidar_offset, TFMini::parse_status, register_periodic_telemetry(), TFMini::strength, tfmini, TFMINI_PARSE_HEAD, tfmini_send_lidar(), and TFMini::update_agl.

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tfmini_parse()

void tfmini_parse

(

uint8_t

byte

)

Parse the lidar bytes 1 by 1.

Definition at line 113 of file tfmini.c.

References byte, TFMini::compensate_rotation, TFMini::distance, foo, TFMini::is_rover, lidar_height, lidar_offset, TFMini::mode, TFMini::parse_crc, TFMini::parse_status, FloatEulers::phi, TFMini::raw_dist, TFMini::raw_mode, TFMini::raw_strength, stateGetNedToBodyEulers_f(), TFMini::strength, tfmini, TFMINI_INITIALIZE, TFMINI_PARSE_BYTE7, TFMINI_PARSE_CHECKSUM, TFMINI_PARSE_DIST_H, TFMINI_PARSE_DIST_L, TFMINI_PARSE_HEAD, TFMINI_PARSE_HEAD2, TFMINI_PARSE_MODE, TFMINI_PARSE_STRENGTH_H, TFMINI_PARSE_STRENGTH_L, tfmini_send_abi(), and FloatEulers::theta.

Referenced by tfmini_event().

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tfmini_send_abi()

void tfmini_send_abi

(

void

)

Definition at line 217 of file tfmini.c.

References AGL_LIDAR_TFMINI_ID, TFMini::distance, foo, get_sys_time_usec(), tfmini, and TFMini::update_agl.

Referenced by tfmini_parse().

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tfmini_send_lidar()

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

static

Downlink message lidar.

Definition at line 63 of file tfmini.c.

References dev, TFMini::distance, foo, TFMini::mode, TFMini::parse_status, status, and tfmini.

Referenced by tfmini_init().

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Variable Documentation

lidar_height

float lidar_height

static

Definition at line 51 of file tfmini.c.

Referenced by tfmini_init(), and tfmini_parse().

lidar_offset

float lidar_offset

static

Definition at line 50 of file tfmini.c.

Referenced by tfmini_init(), and tfmini_parse().

tfmini

struct TFMini tfmini

Initial value:

= {
  .parse_status = TFMINI_INITIALIZE
}

Definition at line 53 of file tfmini.c.

Referenced by tfmini_event(), tfmini_init(), tfmini_parse(), tfmini_send_abi(), and tfmini_send_lidar().