sonar_bebop.c File Reference

Parrot Bebop Sonar driver. More...

#include "sonar_bebop.h"
#include "generated/airframe.h"
#include "mcu_periph/adc.h"
#include "mcu_periph/spi.h"
#include "subsystems/abi.h"
#include <pthread.h>
#include "subsystems/datalink/downlink.h"

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Functions
static void *	sonar_bebop_read (void *data)
	Read ADC value to update sonar measurement. More...
void	sonar_bebop_init (void)

Variables
struct SonarBebop	sonar_bebop
static uint8_t	sonar_bebop_spi_d [16] = { 0xF0,0xF0,0xF0,0xF0,0xF0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 }
static struct spi_transaction	sonar_bebop_spi_t
static pthread_t	sonar_bebop_thread

Detailed Description

Parrot Bebop Sonar driver.

Definition in file sonar_bebop.c.

Function Documentation

void sonar_bebop_init

(

void

)

Definition at line 46 of file sonar_bebop.c.

References spi_transaction::dss, spi_transaction::input_buf, spi_transaction::input_length, SonarBebop::meas, SonarBebop::offset, spi_transaction::output_buf, spi_transaction::output_length, spi_transaction::select, sonar_bebop, sonar_bebop_read(), sonar_bebop_spi_d, sonar_bebop_spi_t, sonar_bebop_thread, SPIDss8bit, SPISelectUnselect, SPITransDone, and spi_transaction::status.

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static void * sonar_bebop_read ( void *  data )

static

Read ADC value to update sonar measurement.

Definition at line 68 of file sonar_bebop.c.

References adc_enable(), adc_read(), AGL_SONAR_ADC_ID, DefaultChannel, DefaultDevice, SonarBebop::distance, SonarBebop::meas, sonar_bebop, sonar_bebop_spi_t, spi0, spi_submit(), SPITransDone, SPITransSuccess, stateGetPositionEnu_f(), spi_transaction::status, and EnuCoor_f::z.

Referenced by sonar_bebop_init().

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Variable Documentation

struct SonarBebop sonar_bebop

Definition at line 40 of file sonar_bebop.c.

Referenced by sonar_bebop_init(), and sonar_bebop_read().

uint8_t sonar_bebop_spi_d[16] = { 0xF0,0xF0,0xF0,0xF0,0xF0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 }

static

Definition at line 41 of file sonar_bebop.c.

Referenced by sonar_bebop_init().

struct spi_transaction sonar_bebop_spi_t

static

Definition at line 42 of file sonar_bebop.c.

Referenced by sonar_bebop_init(), and sonar_bebop_read().

pthread_t sonar_bebop_thread

static

Definition at line 43 of file sonar_bebop.c.

Referenced by sonar_bebop_init().