cf_deck_multi_ranger.c File Reference

#include "modules/range_finder/cf_deck_multi_ranger.h"
#include "peripherals/pca95xx.h"
#include "peripherals/vl53l1x_nonblocking.h"
#include "peripherals/vl53l1x_api.h"
#include "subsystems/abi.h"
#include "subsystems/datalink/downlink.h"

Include dependency graph for cf_deck_multi_ranger.c:

Go to the source code of this file.

Data Structures
struct	SingleRanger
struct	cf_deck_multi_ranger

Macros
#define	MULTI_RANGER_EARLY_INIT   TRUE
#define	MULTI_RANGER_TIMINGBUDGET_MS   100
#define	MULTI_RANGER_DISTANCEMODE   2
#define	MULTI_RANGER_INTERMEASUREMENT_MS   MULTI_RANGER_TIMINGBUDGET_MS
#define	MULTI_RANGER_PIN_FRONT   PCA95XX_P4
#define	MULTI_RANGER_PIN_BACK   PCA95XX_P1
#define	MULTI_RANGER_PIN_RIGHT   PCA95XX_P2
#define	MULTI_RANGER_PIN_LEFT   PCA95XX_P6
#define	MULTI_RANGER_PIN_UP   PCA95XX_P0
#define	MULTI_RANGER_PIN_ALL   (MULTI_RANGER_PIN_FRONT | MULTI_RANGER_PIN_BACK | MULTI_RANGER_PIN_RIGHT | MULTI_RANGER_PIN_LEFT | MULTI_RANGER_PIN_UP)
#define	MULTI_RANGER_ARRAY_ORIENTATION   {{0.f, 0.f}, {0.f, M_PI}, {0.f, M_PI_2}, {0.f, -M_PI_2}, {M_PI_2, 0.f}}

Enumerations
enum	MultiRangerStatus {   MULTI_RANGER_UNINIT, MULTI_RANGER_CONF_IO, MULTI_RANGER_CONF_FRONT, MULTI_RANGER_CONF_BACK,   MULTI_RANGER_CONF_RIGHT, MULTI_RANGER_CONF_LEFT, MULTI_RANGER_CONF_UP, MULTI_RANGER_READ_FRONT,   MULTI_RANGER_READ_BACK, MULTI_RANGER_READ_RIGHT, MULTI_RANGER_READ_LEFT, MULTI_RANGER_READ_UP }
enum	MultiRangerDev {   MULTI_RANGER_FRONT = 0, MULTI_RANGER_BACK, MULTI_RANGER_RIGHT, MULTI_RANGER_LEFT,   MULTI_RANGER_UP, MULTI_RANGER_NB }

Functions
static void	multi_ranger_boot_device (VL53L1_Dev_t *dev UNUSED)
	Boot a device. More...
void	multi_ranger_init (void)
	Module init. More...
static bool	multi_ranger_read (struct SingleRanger *ranger UNUSED)
	Read data from a device. More...
void	multi_ranger_periodic (void)
	Module periodic function. More...
void	multi_ranger_event (void)
void	multi_ranger_report (void)

Variables
static const float	multi_ranger_array_orientation [][2] = MULTI_RANGER_ARRAY_ORIENTATION
static struct cf_deck_multi_ranger	multi_ranger

Detailed Description

Author

Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Multi-ranger deck from Bitcraze for Crazyflie drones

Definition in file cf_deck_multi_ranger.c.

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Data Structure Documentation

SingleRanger

struct SingleRanger

Definition at line 107 of file cf_deck_multi_ranger.c.

Collaboration diagram for SingleRanger:

Data Fields
float	azimuth	azimuth [rad] relative to body frame
float	bearing	bearing [rad] relative to body frame
VL53L1_Dev_t	dev	sensor driver
float	distance	raw distance measurement
uint8_t	read_state	current reading state

cf_deck_multi_ranger

struct cf_deck_multi_ranger

Definition at line 115 of file cf_deck_multi_ranger.c.

Collaboration diagram for cf_deck_multi_ranger:

Data Fields
struct pca95xx	pca
struct SingleRanger	ranger[MULTI_RANGER_NB]	sensor array
enum MultiRangerStatus	status

Macro Definition Documentation

MULTI_RANGER_ARRAY_ORIENTATION

#define MULTI_RANGER_ARRAY_ORIENTATION   {{0.f, 0.f}, {0.f, M_PI}, {0.f, M_PI_2}, {0.f, -M_PI_2}, {M_PI_2, 0.f}}

Definition at line 103 of file cf_deck_multi_ranger.c.

MULTI_RANGER_DISTANCEMODE

#define MULTI_RANGER_DISTANCEMODE   2

Definition at line 52 of file cf_deck_multi_ranger.c.

MULTI_RANGER_EARLY_INIT

#define MULTI_RANGER_EARLY_INIT   TRUE

Definition at line 38 of file cf_deck_multi_ranger.c.

MULTI_RANGER_INTERMEASUREMENT_MS

#define MULTI_RANGER_INTERMEASUREMENT_MS   MULTI_RANGER_TIMINGBUDGET_MS

Definition at line 60 of file cf_deck_multi_ranger.c.

MULTI_RANGER_PIN_ALL

#define MULTI_RANGER_PIN_ALL   (MULTI_RANGER_PIN_FRONT | MULTI_RANGER_PIN_BACK | MULTI_RANGER_PIN_RIGHT | MULTI_RANGER_PIN_LEFT | MULTI_RANGER_PIN_UP)

Definition at line 72 of file cf_deck_multi_ranger.c.

MULTI_RANGER_PIN_BACK

#define MULTI_RANGER_PIN_BACK   PCA95XX_P1

Definition at line 68 of file cf_deck_multi_ranger.c.

MULTI_RANGER_PIN_FRONT

#define MULTI_RANGER_PIN_FRONT   PCA95XX_P4

Definition at line 67 of file cf_deck_multi_ranger.c.

MULTI_RANGER_PIN_LEFT

#define MULTI_RANGER_PIN_LEFT   PCA95XX_P6

Definition at line 70 of file cf_deck_multi_ranger.c.

MULTI_RANGER_PIN_RIGHT

#define MULTI_RANGER_PIN_RIGHT   PCA95XX_P2

Definition at line 69 of file cf_deck_multi_ranger.c.

MULTI_RANGER_PIN_UP

#define MULTI_RANGER_PIN_UP   PCA95XX_P0

Definition at line 71 of file cf_deck_multi_ranger.c.

MULTI_RANGER_TIMINGBUDGET_MS

#define MULTI_RANGER_TIMINGBUDGET_MS   100

Definition at line 46 of file cf_deck_multi_ranger.c.

Enumeration Type Documentation

MultiRangerDev

enum MultiRangerDev

Enumerator
MULTI_RANGER_FRONT
MULTI_RANGER_BACK
MULTI_RANGER_RIGHT
MULTI_RANGER_LEFT
MULTI_RANGER_UP
MULTI_RANGER_NB

Definition at line 92 of file cf_deck_multi_ranger.c.

MultiRangerStatus

enum MultiRangerStatus

Enumerator
MULTI_RANGER_UNINIT
MULTI_RANGER_CONF_IO
MULTI_RANGER_CONF_FRONT
MULTI_RANGER_CONF_BACK
MULTI_RANGER_CONF_RIGHT
MULTI_RANGER_CONF_LEFT
MULTI_RANGER_CONF_UP
MULTI_RANGER_READ_FRONT
MULTI_RANGER_READ_BACK
MULTI_RANGER_READ_RIGHT
MULTI_RANGER_READ_LEFT
MULTI_RANGER_READ_UP

Definition at line 74 of file cf_deck_multi_ranger.c.

Function Documentation

multi_ranger_boot_device()

static void multi_ranger_boot_device ( VL53L1_Dev_t *dev  UNUSED )

static

Boot a device.

Definition at line 128 of file cf_deck_multi_ranger.c.

References dev, MULTI_RANGER_DISTANCEMODE, MULTI_RANGER_INTERMEASUREMENT_MS, MULTI_RANGER_TIMINGBUDGET_MS, and VL53L1X_BootDevice().

Referenced by multi_ranger_periodic().

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multi_ranger_event()

void multi_ranger_event

(

void

)

Definition at line 251 of file cf_deck_multi_ranger.c.

References multi_ranger, MULTI_RANGER_BACK, MULTI_RANGER_FRONT, MULTI_RANGER_LEFT, multi_ranger_read(), MULTI_RANGER_RIGHT, MULTI_RANGER_UP, and cf_deck_multi_ranger::ranger.

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multi_ranger_init()

void multi_ranger_init

(

void

)

Module init.

Definition at line 138 of file cf_deck_multi_ranger.c.

References SingleRanger::azimuth, SingleRanger::bearing, SingleRanger::dev, SingleRanger::distance, VL53L1_Dev_t::i2c_p, VL53L1_Dev_t::i2c_trans, multi_ranger, multi_ranger_array_orientation, MULTI_RANGER_NB, MULTI_RANGER_PIN_ALL, MULTI_RANGER_UNINIT, cf_deck_multi_ranger::pca, pca95xx_configure(), PCA95XX_DEFAULT_ADDRESS, pca95xx_init(), pca95xx_set_output(), cf_deck_multi_ranger::ranger, VL53L1_Dev_t::read_status, i2c_transaction::slave_addr, cf_deck_multi_ranger::status, VL53L1_DEFAULT_ADDRESS, and VL53L1_READ_IDLE.

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multi_ranger_periodic()

void multi_ranger_periodic

(

void

)

Module periodic function.

Definition at line 181 of file cf_deck_multi_ranger.c.

References SingleRanger::dev, multi_ranger, MULTI_RANGER_BACK, multi_ranger_boot_device(), MULTI_RANGER_CONF_BACK, MULTI_RANGER_CONF_FRONT, MULTI_RANGER_CONF_IO, MULTI_RANGER_CONF_LEFT, MULTI_RANGER_CONF_RIGHT, MULTI_RANGER_CONF_UP, MULTI_RANGER_FRONT, MULTI_RANGER_LEFT, MULTI_RANGER_PIN_ALL, MULTI_RANGER_PIN_BACK, MULTI_RANGER_PIN_FRONT, MULTI_RANGER_PIN_LEFT, MULTI_RANGER_PIN_RIGHT, MULTI_RANGER_READ_BACK, MULTI_RANGER_READ_FRONT, MULTI_RANGER_READ_LEFT, MULTI_RANGER_READ_RIGHT, MULTI_RANGER_READ_UP, MULTI_RANGER_RIGHT, MULTI_RANGER_UNINIT, MULTI_RANGER_UP, cf_deck_multi_ranger::pca, pca95xx_configure(), pca95xx_set_output(), cf_deck_multi_ranger::ranger, cf_deck_multi_ranger::status, VL53L1X_NonBlocking_IsIdle(), and VL53L1X_NonBlocking_RequestData().

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multi_ranger_read()

static bool multi_ranger_read ( struct SingleRanger *ranger  UNUSED )

static

Read data from a device.

Returns

true when read cycle is finished

Definition at line 164 of file cf_deck_multi_ranger.c.

References SingleRanger::azimuth, SingleRanger::bearing, SingleRanger::dev, SingleRanger::distance, OBS_DETECTION_MULTI_RANGER_DECK_ID, cf_deck_multi_ranger::ranger, and VL53L1X_NonBlocking_ReadDataEvent().

Referenced by multi_ranger_event().

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multi_ranger_report()

void multi_ranger_report

(

void

)

Definition at line 261 of file cf_deck_multi_ranger.c.

References DefaultChannel, DefaultDevice, SingleRanger::distance, multi_ranger, MULTI_RANGER_NB, and cf_deck_multi_ranger::ranger.

Variable Documentation

multi_ranger

struct cf_deck_multi_ranger multi_ranger

static

Definition at line 123 of file cf_deck_multi_ranger.c.

Referenced by multi_ranger_event(), multi_ranger_init(), multi_ranger_periodic(), and multi_ranger_report().

multi_ranger_array_orientation

const float multi_ranger_array_orientation[][2] = MULTI_RANGER_ARRAY_ORIENTATION

static

Definition at line 105 of file cf_deck_multi_ranger.c.

Referenced by multi_ranger_init().