sonar_pwm.h File Reference

#include "std.h"

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Data Structures
struct	SonarPwm

Functions
void	sonar_pwm_init (void)
void	sonar_pwm_read (void)

Variables
struct SonarPwm	sonar_pwm

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Data Structure Documentation

SonarPwm

struct SonarPwm

Definition at line 42 of file sonar_pwm.h.

Data Fields
float	distance	Distance measured.
float	offset	offset
uint16_t	raw	raw PWM value
float	scale	scale to convert raw to a real distance

Function Documentation

sonar_pwm_init()

void sonar_pwm_init

(

void

)

Definition at line 109 of file sonar_pwm.c.

References init_median_filter_f(), SonarPwm::offset, SonarPwm::raw, SonarPwm::scale, sonar_filt, SONAR_MEDIAN_SIZE, SONAR_OFFSET, sonar_pwm, and SONAR_SCALE.

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sonar_pwm_read()

void sonar_pwm_read

(

void

)

Definition at line 120 of file sonar_pwm.c.

References AGL_SONAR_PWM_ID, DefaultChannel, DefaultDevice, SonarAdc::distance, SonarPwm::distance, get_pwm_input_duty_in_usec(), get_sys_time_usec(), SonarPwm::offset, FloatEulers::phi, SonarPwm::raw, SonarPwm::scale, sonar_adc, sonar_filt, SONAR_MAX_RANGE, SONAR_MIN_RANGE, sonar_pwm, SONAR_PWM_OFFSET, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), FloatEulers::theta, update_median_filter_f(), and EnuCoor_f::z.

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Variable Documentation

sonar_pwm

struct SonarPwm sonar_pwm

Definition at line 106 of file sonar_pwm.c.

Referenced by sonar_pwm_init(), and sonar_pwm_read().