lidar_lite.h File Reference

driver for the Lidar-Lite i2c lidar More...

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

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Data Structures
struct	LidarLite

Enumerations
enum	LidarLiteStatus { LIDAR_LITE_INIT_RANGING, LIDAR_LITE_REQ_READ, LIDAR_LITE_READ_DISTANCE, LIDAR_LITE_PARSE }

Functions
void	lidar_lite_init (void)
	Initialization function. More...
void	lidar_lite_event (void)
	Lidar event function Basically just check the progress of the transation to prevent overruns during high speed operation (ie. More...
void	lidar_lite_periodic (void)
	Poll lidar for data for altitude hold 50Hz-100Hz should be enough, in theory can go faster (see the datasheet for Lidar Lite v3. More...
void	lidar_lite_downlink (void)
	Downlink message for debug. More...

Variables
struct LidarLite	lidar_lite

Detailed Description

driver for the Lidar-Lite i2c lidar

Note that the version 1 (silver label) seems to generate unexpected events on the i2c bus, such as misplaced start or stop or word reset (see I2C_ERRORS message). It seems to have no effect on other i2c devices (especially the IMU), but use with caution.

The newer versions function correctly.

Definition in file lidar_lite.h.

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Data Structure Documentation

struct LidarLite

Definition at line 46 of file lidar_lite.h.

Collaboration diagram for LidarLite:

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

Enumeration Type Documentation

enum LidarLiteStatus

Enumerator
LIDAR_LITE_INIT_RANGING
LIDAR_LITE_REQ_READ
LIDAR_LITE_READ_DISTANCE
LIDAR_LITE_PARSE

Definition at line 39 of file lidar_lite.h.

Function Documentation

void lidar_lite_downlink

(

void

)

Downlink message for debug.

Definition at line 171 of file lidar_lite.c.

References DefaultChannel, DefaultDevice, LidarLite::distance, lidar_lite, LidarLite::status, status, i2c_transaction::status, and LidarLite::trans.

void lidar_lite_event

(

void

)

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

polling the radar at >100Hz)

Definition at line 76 of file lidar_lite.c.

References I2CTransDone, I2CTransFailed, I2CTransPending, I2CTransRunning, I2CTransSuccess, lidar_lite, i2c_transaction::status, and LidarLite::trans.

void lidar_lite_init

(

void

)

Initialization function.

Definition at line 56 of file lidar_lite.c.

References LidarLite::addr, LidarLite::compensate_rotation, LidarLite::distance, LidarLite::distance_raw, I2CTransDone, init_median_filter_i(), lidar_lite, lidar_lite_filter, LIDAR_LITE_INIT_RANGING, LidarLite::status, i2c_transaction::status, LidarLite::trans, and LidarLite::update_agl.

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void lidar_lite_periodic

(

void

)

Poll lidar for data for altitude hold 50Hz-100Hz should be enough, in theory can go faster (see the datasheet for Lidar Lite v3.

Definition at line 106 of file lidar_lite.c.

References LidarLite::addr, AGL_LIDAR_LITE_ID, i2c_transaction::buf, LidarLite::compensate_rotation, LidarLite::distance, LidarLite::distance_raw, i2c_receive(), i2c_transmit(), I2CTransDone, lidar_lite, lidar_lite_filter, LIDAR_LITE_INIT_RANGING, LIDAR_LITE_PARSE, LIDAR_LITE_READ_ADDR, LIDAR_LITE_READ_DISTANCE, LIDAR_LITE_REG_ADDR, LIDAR_LITE_REG_VAL, LIDAR_LITE_REQ_READ, FloatEulers::phi, stateGetNedToBodyEulers_f(), LidarLite::status, i2c_transaction::status, FloatEulers::theta, LidarLite::trans, LidarLite::update_agl, and update_median_filter_i().

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Variable Documentation

struct LidarLite lidar_lite

Definition at line 45 of file lidar_lite.c.

Referenced by lidar_lite_downlink(), lidar_lite_event(), lidar_lite_init(), and lidar_lite_periodic().