tfmini_i2c.h File Reference

Driver for the TFMini ranging device when used via I2C bus. More...

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

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Data Structures
struct	TFMiniI2C

Enumerations
enum	TFMiniI2CStatus { TFMINI_I2C_ACQUIRE , TFMINI_I2C_PARSE }

Functions
void	tfmini_i2c_init (void)
	Set the default values at initialization. More...
void	tfmini_i2c_event (void)
	Ranger event function Basically just check the progress of the transation to prevent overruns during high speed operation (ie. More...
void	tfmini_i2c_periodic (void)
	Get the ranger current distance value. More...
void	tfmini_i2c_downlink (void)

Variables
struct TFMiniI2C	tfmini_i2c

Detailed Description

Driver for the TFMini ranging device when used via I2C bus.

Driver for the TFMini ranging device connected via I2C port.

Driver for the I2C and S version of the TFMini(and TFLuna) based range sensor Reads sensor using I2Cinput and outputs the distance to object or ground

Definition in file tfmini_i2c.h.

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Data Structure Documentation

TFMiniI2C

struct TFMiniI2C

Definition at line 42 of file tfmini_i2c.h.

Collaboration diagram for TFMiniI2C:

Data Fields
uint8_t	addr
bool	compensate_rotation
float	dist	Sacled distance measured in [m].
float	offset	offset to what one considers a zero distance to sensor in [m]
uint16_t	raw_dist	raw non scaled value from sensor
enum TFMiniI2CStatus	status
uint16_t	strength	strength of reflect signal, not implemented ATM
struct i2c_transaction	trans
bool	update_agl	Do or don't update AGL ABI message.

Enumeration Type Documentation

TFMiniI2CStatus

enum TFMiniI2CStatus

Enumerator
TFMINI_I2C_ACQUIRE
TFMINI_I2C_PARSE

Definition at line 37 of file tfmini_i2c.h.

Function Documentation

tfmini_i2c_downlink()

void tfmini_i2c_downlink

(

void

)

Definition at line 247 of file tfmini_i2c.c.

References DefaultChannel, DefaultDevice, TFMiniI2C::dist, TFMiniI2C::raw_dist, and tfmini_i2c.

tfmini_i2c_event()

void tfmini_i2c_event

(

void

)

Ranger event function Basically just check the progress of the transation to prevent overruns during high speed operation (ie.

polling the ranger at >100Hz)

Definition at line 167 of file tfmini_i2c.c.

References I2CTransDone, I2CTransFailed, I2CTransPending, I2CTransRunning, I2CTransSuccess, i2c_transaction::status, tfmini_i2c, and TFMiniI2C::trans.

tfmini_i2c_init()

void tfmini_i2c_init

(

void

)

Set the default values at initialization.

Definition at line 142 of file tfmini_i2c.c.

References TFMiniI2C::addr, TFMiniI2C::compensate_rotation, DefaultPeriodic, TFMiniI2C::dist, I2CTransDone, TFMiniI2C::offset, TFMiniI2C::raw_dist, register_periodic_telemetry(), i2c_transaction::status, TFMiniI2C::status, TFMiniI2C::strength, tfmini_i2c, TFMINI_I2C_ACQUIRE, TFMINI_I2C_ADDR, TFMINI_I2C_OFFSET, tfmini_i2c_send_lidar(), TFMiniI2C::trans, and TFMiniI2C::update_agl.

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tfmini_i2c_periodic()

void tfmini_i2c_periodic

(

void

)

Get the ranger current distance value.

Definition at line 196 of file tfmini_i2c.c.

References TFMiniI2C::addr, AGL_LIDAR_TFMINI_I2C_ID, i2c_transaction::buf, TFMiniI2C::compensate_rotation, TFMiniI2C::dist, get_sys_time_usec(), i2c_blocking_transceive(), I2CTransDone, TFMiniI2C::offset, FloatEulers::phi, TFMiniI2C::raw_dist, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), i2c_transaction::status, TFMiniI2C::status, tfmini_i2c, TFMINI_I2C_ACQUIRE, TFMINI_I2C_MAX_RANGE, TFMINI_I2C_MIN_RANGE, TFMINI_I2C_PARSE, FloatEulers::theta, TFMiniI2C::trans, TFMiniI2C::update_agl, and EnuCoor_f::z.

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Variable Documentation

tfmini_i2c

struct TFMiniI2C tfmini_i2c

extern

Definition at line 1 of file tfmini_i2c.c.

Referenced by tfmini_i2c_downlink(), tfmini_i2c_event(), tfmini_i2c_init(), tfmini_i2c_periodic(), and tfmini_i2c_send_lidar().