mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
69 lines
4.1 KiB
XML
69 lines
4.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="lidar_tfmini_i2c" dir="lidar">
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<doc>
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<description>
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The TF Mini LiDAR is an unidirectional range finder based on time-of-flight (ToF) via IR LED technology.
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It uses adaptive algorithms for indoor and outdoor application environment.
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The sensor can be used as a distance-measuring tool to detect the distance to surfaces, suitable for AGL hold and terrain following.
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The maximum detection distance is 12 meters. The device supports 100Hz sampling rate.
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To be able to use the I2C version of the TFmini ranger, enable this module in your airframe and set you wanted parameters.
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</description>
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<configure name="TFMINI_I2C_DEV" value="i2c2" description="I2C device port on flightcontroller to use for this device"/>
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<configure name="TFMINI_I2C_ADDR" value="0x20" description="Other than default I2C Slave address 0x10 to use for the device"/>
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<configure name="USE_TFMINI_I2C_AGL" value="0" description="Updates the AGL value in state,if not defined, defaults to FALSE"/>
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<configure name="TFMINI_I2C_COMPENSATE_ROTATION" value="1" description="Compensate AGL measurements for body rotation. Disabled by default"/>
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<define name="TFMINI_I2C_USE_FILTER" value="TRUE" description="If this is line is added one enables a median filter on the sensor output, not needed in normal use"/>
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<define name="AGL_LIDAR_TFMINI_I2C_ID" value="254" description="Set own ID if using both U, S and I version of sensor at the same time"/>
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<define name="TFMINI_I2C_OFFSET" value="0.56" description="Sensor offset in CM, as in where one wants zero to be, default is 0.0"/>
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<define name="TFMINI_I2C_MIN_RANGE" value="0.44" unit="m" description="If defined, set limit to minimum value reported, default 0.3"/>
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<define name="TFMINI_I2C_MAX_RANGE" value="3.0" unit="m" description="If defined, set limit to maximum value reported, default 6.0"/>
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<define name="TFMINI_I2C_MEDIAN_SIZE" value="9" description="If median filter is enabled then set this option to filter the output more(or less), default is 7"/>
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<define name="SENSOR_SYNC_SEND_SONAR" description="If defined, sends raw and scaled ranging values, useful for debugging sensor issues"/>
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</doc>
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<settings>
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<dl_settings NAME="Ranger">
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<dl_settings NAME="TFMini I2C">
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini_i2c.compensate_rotation" shortname="Derotate AGL"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini_i2c.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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<dep>
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<depends>i2c</depends>
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<provides>sonar</provides>
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</dep>
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<header>
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<file name="tfmini_i2c.h"/>
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</header>
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<init fun="tfmini_i2c_init()"/>
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<periodic fun="tfmini_i2c_downlink()" freq="10" autorun="TRUE"/> <!-- in Hz, Only used for debugging, usefull to get more messages -->
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<periodic fun="tfmini_i2c_periodic()" freq="100"/> <!-- In Hz, 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 100Hz = 50 range readings -->
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<event fun="tfmini_i2c_event()"/>
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<makefile>
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<configure name="TFMINI_I2C_DEV" default="i2c1" case="lower|upper"/>
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<configure name="TFMINI_I2C_ADDR" default="0x20"/>
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<configure name="USE_TFMINI_I2C_AGL" default="0"/>
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<configure name="TFMINI_I2C_COMPENSATE_ROTATION" default="0"/>
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<define name="TFMINI_I2C_ADDR" value="$(TFMINI_I2C_ADDR)"/>
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<define name="USE_$(TFMINI_I2C_DEV_UPPER)"/>
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<define name="TFMINI_I2C_DEV" value="$(TFMINI_I2C_DEV_LOWER)"/>
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<define name="USE_TFMINI_I2C_AGL" value="$(USE_TFMINI_I2C_AGL)"/>
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<define name="TFMINI_I2C_COMPENSATE_ROTATION" value="$(TFMINI_I2C_COMPENSATE_ROTATION)"/>
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<define name="TFMINI_I2C_MIN_RANGE" value="0.3"/>
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<define name="TFMINI_I2C_MAX_RANGE" value="6.0"/>
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<define name="TFMINI_I2C_MEDIAN_SIZE" value="7"/>
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<define name="SENSOR_SYNC_SEND_SONAR" value="0"/>
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<file name="tfmini_i2c.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 rangeing measurements -->
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</makefile>
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</module>
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