mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Michal Podhradsky
52 lines
2.5 KiB
XML
52 lines
2.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="lidar_sf11" dir="lidar">
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<doc>
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<description>
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Parallax SF11-A/B/C Laser Rangefinder connected over i2c bus.
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The update rate is 16 readings per second, so don't poll the lidar faster than 32Hz.
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In practice lidar_sf11_periodic() can run at most at freq=32.
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The i2c address can be reconfigured.
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</description>
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<configure name="LIDAR_SF11_I2C_DEV" value="i2c2" description="I2C device to use for lidar"/>
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<configure name="LIDAR_SF11_I2C_ADDR" value="0x50" description="default slave address of lidar"/>
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<configure name="USE_LIDAR_SF11_AGL" value="1" description="use this lidar for AGL measurements. On by deafult"/>
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<configure name="LIDAR_SF11_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
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</doc>
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<settings>
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<dl_settings NAME="Lidar SF11">
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<dl_settings NAME="Lidar">
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="lidar_sf11.compensate_rotation" shortname="derotate_agl"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="lidar_sf11.update_agl" shortname="update_agl"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="lidar_sf11.h"/>
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</header>
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<init fun="lidar_sf11_init()"/>
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<periodic fun="lidar_sf11_downlink()" freq="4" autorun="FALSE"/> <!-- for debug -->
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<periodic fun="lidar_sf11_periodic()" freq="32"/> <!-- poll data, since we have 2 states in the state machine, divide the frequency
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by 2 to get the actual number of readings per second. For example 32Hz = 16 range readings, which is the maximum (per the datasheet) -->
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<event fun="lidar_sf11_event()"/>
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<makefile>
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<configure name="LIDAR_SF11_I2C_DEV" default="i2c1" case="lower|upper"/>
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<configure name="LIDAR_SF11_I2C_ADDR" default="0x50"/>
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<configure name="USE_LIDAR_SF11_AGL" default="1"/>
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<configure name="LIDAR_SF11_COMPENSATE_ROTATION" default="1"/>
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<define name="LIDAR_SF11_I2C_DEV" value="$(LIDAR_SF11_I2C_DEV_LOWER)"/>
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<define name="USE_$(LIDAR_SF11_I2C_DEV_UPPER)"/>
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<define name="LIDAR_SF11_I2C_ADDR" value="$(LIDAR_SF11_I2C_ADDR)"/>
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<define name="USE_LIDAR_SF11_AGL" value="$(USE_LIDAR_SF11_AGL)"/>
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<define name="LIDAR_SF11_COMPENSATE_ROTATION" value="$(LIDAR_SF11_COMPENSATE_ROTATION)"/>
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<file name="lidar_sf11.c"/>
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</makefile>
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<makefile target="nps">
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<define name="USE_SONAR" value="1"/><!-- in NPS use a virtual sonar to simulate lidar measurements -->
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</makefile>
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</module>
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