Remove abi example and add doc.

paparazzi · Feb 20, 2024 · 3ccd186 · 3ccd186
1 parent 2e9270a
commit 3ccd186
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Showing 2 changed files with 4 additions and 25 deletions.
diff --git a/conf/modules/lidar_vl53l5cx.xml b/conf/modules/lidar_vl53l5cx.xml
@@ -1,7 +1,10 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 <module name="lidar_vl53l5cx" dir="lidar" task="sensors">
   <doc>
-    <description>VL53L5CX multizone range sensor.</description>
+    <description>
+      VL53L5CX multizone range sensor.
+      Sends LIDAR_DATA Abi messages.
+    </description>
     <configure name="LIDAR_VL53L5CX_I2C_DEV" value="i2c2" description="I2C device to use for the VL53L5CX sensor"/>
     <define name="LIDAR_VL53L5CX_I2C_ADDR" value="0x52" description="I2C address"/>
   </doc>

diff --git a/sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.c b/sw/airborne/arch/chibios/modules/lidar/lidar_vl53l5cx.c
@@ -41,9 +41,6 @@
 static IN_DMA_SECTION(VL53L5CX_Configuration  vl53l5cx_dev);
 static IN_DMA_SECTION(VL53L5CX_ResultsData  vl53l5cx_results);
 
-static abi_event lidar_ev;
-
-
 static THD_WORKING_AREA(wa_thd_lidar_vl53l5cx, 1024);
 static void thd_lidar_vl53l5cx(void *arg);
 
@@ -56,25 +53,6 @@ char *VL53L5CX_ERROR_MSGS[] = {
   "VL53L5CX_RUNTIME_ERROR",
 };
 
-static void lidar_cb(uint8_t sender_id __attribute__((unused)),
-                     uint32_t stamp __attribute__((unused)),
-                     uint32_t numRows, uint32_t numCols, uint16_t size,
-                     uint8_t subtype, uint8_t *data)
-{
-  (void)numRows;
-  (void)numCols;
-  (void)size;
-  (void)subtype;
-  (void)data;
-  // example
-  // float f[16];
-  // uint16_t* distances_mm = (uint16_t*) data;
-  // for(int i=0; i<16; i++) {
-  //   f[i] = distances_mm[i];
-  // }
-  // DOWNLINK_SEND_PAYLOAD_FLOAT(DefaultChannel, DefaultDevice, 16, f);
-}
-
 
 void lidar_vl53l5cx_init(void)
 {
@@ -83,8 +61,6 @@ void lidar_vl53l5cx_init(void)
   vl53l5cx_dev.platform.thread_handle = NULL;
   vl53l5cx_dev.platform.error_code = VL53L5CX_NO_ERROR;
 
-  AbiBindMsgLIDAR_DATA(ABI_BROADCAST, &lidar_ev, lidar_cb);
-
   // Create thread
   vl53l5cx_dev.platform.thread_handle = chThdCreateStatic(wa_thd_lidar_vl53l5cx, sizeof(wa_thd_lidar_vl53l5cx),
                                         NORMALPRIO, thd_lidar_vl53l5cx, (void *)&vl53l5cx_dev);