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"

Include dependency graph for tfmini.c:

Go to the source code of this file.

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

tfmini_event()

void tfmini_event

(

void

)

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

Definition at line 84 of file tfmini.c.

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

Here is the call graph for this function:

tfmini_init()

void tfmini_init

(

void

)

Initialization function.

Definition at line 64 of file tfmini.c.

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

Here is the call graph for this function:

tfmini_parse()

static void tfmini_parse ( uint8_t  byte )

static

Parse the lidar bytes 1 by 1.

Definition at line 94 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, 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().

Here is the call graph for this function:

Here is the caller graph for this function:

tfmini_send_lidar()

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 dev, TFMini::distance, TFMini::mode, TFMini::parse_status, status, and tfmini.

Referenced by tfmini_init().

Here is the caller graph for this function:

Variable Documentation

tfmini

struct TFMini tfmini

Initial value:

= {
  .parse_status = TFMINI_INITIALIZE
}

Definition at line 38 of file tfmini.c.

Referenced by tfmini_event(), tfmini_init(), tfmini_parse(), and tfmini_send_lidar().