lidar_lite.c File Reference

driver for the Lidar-Lite i2c lidar version 1 (silver label) More...

#include "modules/lidar/lidar_lite.h"
#include "subsystems/abi.h"
#include "filters/median_filter.h"
#include "state.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	LIDAR_LITE_REG_ADDR   0x00
#define	LIDAR_LITE_REG_VAL   0x04
#define	LIDAR_LITE_READ_ADDR   0x8F

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
struct MedianFilterInt	lidar_lite_filter

Detailed Description

driver for the Lidar-Lite i2c lidar version 1 (silver label)

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.c.

Macro Definition Documentation

#define LIDAR_LITE_READ_ADDR   0x8F

Definition at line 50 of file lidar_lite.c.

Referenced by lidar_lite_periodic().

#define LIDAR_LITE_REG_ADDR   0x00

Definition at line 48 of file lidar_lite.c.

Referenced by lidar_lite_periodic().

#define LIDAR_LITE_REG_VAL   0x04

Definition at line 49 of file lidar_lite.c.

Referenced by lidar_lite_periodic().

Function Documentation

void lidar_lite_downlink

(

void

)

Downlink message for debug.

Definition at line 173 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, get_sys_time_usec(), 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().

struct MedianFilterInt lidar_lite_filter

Definition at line 46 of file lidar_lite.c.

Referenced by lidar_lite_init(), and lidar_lite_periodic().