#include "generated/airframe.h"
#include "modules/lidar/tfmini_i2c.h"
#include "subsystems/abi.h"
#include "subsystems/datalink/telemetry.h"
#include "pprzlink/messages.h"

Include dependency graph for tfmini_i2c.c:

Macros
#define	AGL_LIDAR_TFMINI_I2C_ID AGL_LIDAR_TFMINI_ID

#define	TFMINI_I2C_ADDR 0x10

#define	TFMINI_I2C_REG_ADDR 0x26

#define	TFMINI_I2C_REG_VAL 0x10

#define	TFMINI_I2C_READ_ADDR 0x10

#define	DISTANCE_MODE_REG_ADDR 0x50

#define	DISTANCE_MODE_SHORT 0x00

#define	DISTANCE_MODE_MIDDLE 0x03

#define	DISTANCE_MODE_LONG 0x07

#define	DETECTION_PATTERN_REG_ADDR 0x51

#define	AUTOMATIC_DETECTION_PATTERN 0x00

#define	FIXED_DETECTION_PATTERN 0x01

#define	SETTING_OF_RANGE_LIMIT_REG_ADDR 0x55

#define	RANGE_LIMIT_DISABLED 0x00

#define	RANGE_LIMIT_ENABLED 0x01

#define	RANGE_OUTPUT_LIMIT_THRESHOLD_REG_ADDR_L 0x56

#define	RANGE_OUTPUT_LIMIT_THRESHOLD_REG_ADDR_H 0x57

#define	LOWER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_L 0x58

#define	LOWER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_H 0x59

#define	UPPER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_L 0x5A

#define	UPPER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_H 0x5B

#define	OUTPUT_VALUE_OF_SIGNAL_STRENGTH_THRESHOLD_AT_THE_HIGHEST_POINT_REG_ADDR_L 0x5C

#define	OUTPUT_VALUE_OF_SIGNAL_STRENGTH_THRESHOLD_AT_THE_HIGHEST_POINT_REG_ADDR_H 0x5D

#define	UNIT_OF_DISTANCE_REG_ADDR 0x66

#define	UNIT_OF_DISTANCE_MM 0x00

#define	UNIT_OF_DISTANCE_CM 0x01

#define	SLAVE_ADDRESS_REG_ADDR 0x26

#define	TRIGGER_MODE_REG_ADDR 0x27

#define	USE_EXTERNAL_TRIGGER 0

#define	EXTERNAL_TRIGGER_REG_ADDR 0x01

#define	DEVICE_RESET_ADDR 0x70

#define	TFMINI_I2C_OFFSET 0.0f
	Ranger offset value for what considered the distance should be zero, e.g. high landing gear to tarmac 60cm still could be considerd zero. More...

#define	TFMINI_I2C_MIN_RANGE 0.3f
	The minimum range for the device to be able to measure. More...

#define	TFMINI_I2C_MAX_RANGE 6.0f
	The maximum range for the device to be able to measure. More...

Functions
static void	tfmini_i2c_send_lidar (struct transport_tx trans, struct link_device dev)
	Send measured value and status information so it can be read back in e.g. More...

void	tfmini_i2c_init (void)
	Set the default values at initialization. More...

void	tfmini_i2c_event (void)
	Ranger event function Basically just check the progress of the transation to prevent overruns during high speed operation (ie. More...

void	tfmini_i2c_periodic (void)
	Get the ranger current distance value. More...

void	tfmini_i2c_downlink (void)

Variables
struct TFMiniI2C	tfmini_i2c

Macro Definition Documentation

◆ AGL_LIDAR_TFMINI_I2C_ID

#define AGL_LIDAR_TFMINI_I2C_ID AGL_LIDAR_TFMINI_ID

Definition at line 47 of file tfmini_i2c.c.

◆ AUTOMATIC_DETECTION_PATTERN

#define AUTOMATIC_DETECTION_PATTERN 0x00

Definition at line 73 of file tfmini_i2c.c.

◆ DETECTION_PATTERN_REG_ADDR

#define DETECTION_PATTERN_REG_ADDR 0x51

Definition at line 72 of file tfmini_i2c.c.

◆ DEVICE_RESET_ADDR

#define DEVICE_RESET_ADDR 0x70

Definition at line 108 of file tfmini_i2c.c.

◆ DISTANCE_MODE_LONG

#define DISTANCE_MODE_LONG 0x07

Definition at line 70 of file tfmini_i2c.c.

◆ DISTANCE_MODE_MIDDLE

#define DISTANCE_MODE_MIDDLE 0x03

Definition at line 69 of file tfmini_i2c.c.

◆ DISTANCE_MODE_REG_ADDR

#define DISTANCE_MODE_REG_ADDR 0x50

Definition at line 67 of file tfmini_i2c.c.

◆ DISTANCE_MODE_SHORT

#define DISTANCE_MODE_SHORT 0x00

Definition at line 68 of file tfmini_i2c.c.

◆ EXTERNAL_TRIGGER_REG_ADDR

#define EXTERNAL_TRIGGER_REG_ADDR 0x01

Definition at line 106 of file tfmini_i2c.c.

◆ FIXED_DETECTION_PATTERN

#define FIXED_DETECTION_PATTERN 0x01

Definition at line 74 of file tfmini_i2c.c.

◆ LOWER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_H

#define LOWER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_H 0x59

Definition at line 86 of file tfmini_i2c.c.

◆ LOWER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_L

#define LOWER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_L 0x58

Definition at line 85 of file tfmini_i2c.c.

◆ OUTPUT_VALUE_OF_SIGNAL_STRENGTH_THRESHOLD_AT_THE_HIGHEST_POINT_REG_ADDR_H

#define OUTPUT_VALUE_OF_SIGNAL_STRENGTH_THRESHOLD_AT_THE_HIGHEST_POINT_REG_ADDR_H 0x5D

Definition at line 95 of file tfmini_i2c.c.

◆ OUTPUT_VALUE_OF_SIGNAL_STRENGTH_THRESHOLD_AT_THE_HIGHEST_POINT_REG_ADDR_L

#define OUTPUT_VALUE_OF_SIGNAL_STRENGTH_THRESHOLD_AT_THE_HIGHEST_POINT_REG_ADDR_L 0x5C

Definition at line 94 of file tfmini_i2c.c.

◆ RANGE_LIMIT_DISABLED

#define RANGE_LIMIT_DISABLED 0x00

Definition at line 77 of file tfmini_i2c.c.

◆ RANGE_LIMIT_ENABLED

#define RANGE_LIMIT_ENABLED 0x01

Definition at line 78 of file tfmini_i2c.c.

◆ RANGE_OUTPUT_LIMIT_THRESHOLD_REG_ADDR_H

#define RANGE_OUTPUT_LIMIT_THRESHOLD_REG_ADDR_H 0x57

Definition at line 81 of file tfmini_i2c.c.

◆ RANGE_OUTPUT_LIMIT_THRESHOLD_REG_ADDR_L

#define RANGE_OUTPUT_LIMIT_THRESHOLD_REG_ADDR_L 0x56

Definition at line 80 of file tfmini_i2c.c.

◆ SETTING_OF_RANGE_LIMIT_REG_ADDR

#define SETTING_OF_RANGE_LIMIT_REG_ADDR 0x55

Definition at line 76 of file tfmini_i2c.c.

◆ SLAVE_ADDRESS_REG_ADDR

#define SLAVE_ADDRESS_REG_ADDR 0x26

Definition at line 102 of file tfmini_i2c.c.

◆ TFMINI_I2C_ADDR

#define TFMINI_I2C_ADDR 0x10

Definition at line 60 of file tfmini_i2c.c.

◆ TFMINI_I2C_MAX_RANGE

#define TFMINI_I2C_MAX_RANGE 6.0f

The maximum range for the device to be able to measure.

Definition at line 122 of file tfmini_i2c.c.

◆ TFMINI_I2C_MIN_RANGE

#define TFMINI_I2C_MIN_RANGE 0.3f

The minimum range for the device to be able to measure.

Definition at line 117 of file tfmini_i2c.c.

◆ TFMINI_I2C_OFFSET

#define TFMINI_I2C_OFFSET 0.0f

Ranger offset value for what considered the distance should be zero, e.g. high landing gear to tarmac 60cm still could be considerd zero.

Definition at line 112 of file tfmini_i2c.c.

◆ TFMINI_I2C_READ_ADDR

#define TFMINI_I2C_READ_ADDR 0x10

Definition at line 65 of file tfmini_i2c.c.

◆ TFMINI_I2C_REG_ADDR

#define TFMINI_I2C_REG_ADDR 0x26

Definition at line 63 of file tfmini_i2c.c.

◆ TFMINI_I2C_REG_VAL

#define TFMINI_I2C_REG_VAL 0x10

Definition at line 64 of file tfmini_i2c.c.

◆ TRIGGER_MODE_REG_ADDR

#define TRIGGER_MODE_REG_ADDR 0x27

Definition at line 104 of file tfmini_i2c.c.

◆ UNIT_OF_DISTANCE_CM

#define UNIT_OF_DISTANCE_CM 0x01

Definition at line 100 of file tfmini_i2c.c.

◆ UNIT_OF_DISTANCE_MM

#define UNIT_OF_DISTANCE_MM 0x00

Definition at line 99 of file tfmini_i2c.c.

◆ UNIT_OF_DISTANCE_REG_ADDR

#define UNIT_OF_DISTANCE_REG_ADDR 0x66

Definition at line 98 of file tfmini_i2c.c.

◆ UPPER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_H

#define UPPER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_H 0x5B

Definition at line 91 of file tfmini_i2c.c.

◆ UPPER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_L

#define UPPER_LIMIT_OF_SIGNAL_STRENGTH_THRESHOLD_REG_ADDR_L 0x5A

Definition at line 90 of file tfmini_i2c.c.

◆ USE_EXTERNAL_TRIGGER

#define USE_EXTERNAL_TRIGGER 0

Definition at line 105 of file tfmini_i2c.c.

Function Documentation

◆ tfmini_i2c_downlink()

void tfmini_i2c_downlink ( void )

Definition at line 247 of file tfmini_i2c.c.

References DefaultChannel, DefaultDevice, TFMiniI2C::dist, TFMiniI2C::raw_dist, and tfmini_i2c.

◆ tfmini_i2c_event()

void tfmini_i2c_event ( void )

Ranger event function Basically just check the progress of the transation to prevent overruns during high speed operation (ie.

polling the ranger at >100Hz)

Definition at line 167 of file tfmini_i2c.c.

References I2CTransDone, I2CTransFailed, I2CTransPending, I2CTransRunning, I2CTransSuccess, i2c_transaction::status, tfmini_i2c, and TFMiniI2C::trans.

◆ tfmini_i2c_init()

void tfmini_i2c_init ( void )

Set the default values at initialization.

Definition at line 142 of file tfmini_i2c.c.

References TFMiniI2C::addr, TFMiniI2C::compensate_rotation, DefaultPeriodic, TFMiniI2C::dist, I2CTransDone, TFMiniI2C::offset, TFMiniI2C::raw_dist, register_periodic_telemetry(), TFMiniI2C::status, i2c_transaction::status, TFMiniI2C::strength, tfmini_i2c, TFMINI_I2C_ACQUIRE, TFMINI_I2C_ADDR, TFMINI_I2C_OFFSET, tfmini_i2c_send_lidar(), TFMiniI2C::trans, and TFMiniI2C::update_agl.

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◆ tfmini_i2c_periodic()

void tfmini_i2c_periodic ( void )

Get the ranger current distance value.

Definition at line 196 of file tfmini_i2c.c.

References TFMiniI2C::addr, AGL_LIDAR_TFMINI_I2C_ID, i2c_transaction::buf, TFMiniI2C::compensate_rotation, TFMiniI2C::dist, f, get_sys_time_usec(), i2c_blocking_transceive(), I2CTransDone, TFMiniI2C::offset, FloatEulers::phi, TFMiniI2C::raw_dist, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), TFMiniI2C::status, i2c_transaction::status, tfmini_i2c, TFMINI_I2C_ACQUIRE, TFMINI_I2C_MAX_RANGE, TFMINI_I2C_MIN_RANGE, TFMINI_I2C_PARSE, FloatEulers::theta, TFMiniI2C::trans, TFMiniI2C::update_agl, and EnuCoor_f::z.