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Complete ToF Distance Node example. #150

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Jun 17, 2022
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Complete ToF Distance Node example. #150

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9 changes: 9 additions & 0 deletions examples/OpenCyphal-ToF-Distance-Sensor-Node/OpenCyphal-ToF-Distance-Sensor-Node.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,9 @@ typedef struct
static int const MKRCAN_MCP2515_CS_PIN = 3;
static int const MKRCAN_MCP2515_INT_PIN = 7;
static uint8_t const OPEN_CYPHAL_NODE_ID = 14;

static CanardPortID const OPEN_CYPHAL_ID_DISTANCE_DATA = 1001U;

static OpenCyphalNodeData const OPEN_CYPHAL_NODE_INITIAL_DATA =
{
uavcan::node::Heartbeat_1_0<>::Mode::INITIALIZATION,
Expand Down Expand Up @@ -290,6 +293,12 @@ namespace tof
void onTofDistanceUpdate(drone::unit::Length const l)
{
DBG_INFO("[%05lu] Distance = %.3f m", millis(), l.value());

typedef uavcan::primitive::scalar::Real32_1_0<OPEN_CYPHAL_ID_DISTANCE_DATA> DistanceMessageType;
DistanceMessageType tof_distance_msg;
tof_distance_msg.data.value = l.value();

node_hdl.publish(tof_distance_msg);
}

}