tfmini.c File Reference

driver for the TFMini lidar More...

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

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

Variables
struct TFMini	tfmini

Detailed Description

driver for the TFMini lidar

Definition in file tfmini.c.

Function Documentation

void tfmini_event

(

void

)

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

Definition at line 83 of file tfmini.c.

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

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void tfmini_init

(

void

)

Initialization function.

Definition at line 63 of file tfmini.c.

References TFMini::compensate_rotation, DefaultPeriodic, TFMini::device, TFMini::distance, TFMini::parse_status, register_periodic_telemetry(), TFMini::strength, TFMINI_PARSE_HEAD, tfmini_send_lidar(), and TFMini::update_agl.

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static void tfmini_parse ( uint8_t  byte )

static

Parse the lidar bytes 1 by 1.

Definition at line 93 of file tfmini.c.

References AGL_LIDAR_TFMINI_ID, byte, TFMini::compensate_rotation, TFMini::distance, get_sys_time_usec(), TFMini::mode, TFMini::parse_crc, TFMini::parse_status, FloatEulers::phi, TFMini::raw_dist, TFMini::raw_mode, TFMini::raw_strength, stateGetNedToBodyEulers_f(), TFMini::strength, 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, FloatEulers::theta, and TFMini::update_agl.

Referenced by tfmini_event().

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

static

Downlink message lidar.

Definition at line 50 of file tfmini.c.

References TFMini::distance, TFMini::mode, and TFMini::parse_status.

Referenced by tfmini_init().

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Variable Documentation

struct TFMini tfmini

Initial value:

= {
  .parse_status = TFMINI_INITIALIZE
}

Definition at line 38 of file tfmini.c.