This commit is contained in:
sicarius 2007-02-22 13:12:03 +00:00
parent 9525458918
commit 655dd7522f
14 changed files with 212 additions and 166 deletions

View file

@ -5,21 +5,36 @@ float Distance_Sensor::GetDistance()
{
uint32 result = 0;
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Gen Pulse; Pin:",1,4);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
msleep(500);
//Generate pulse
*hardwareDDR |= pin;//Set pin output
*hardwarePort |= pin;//Activate port
usleep(10);//Wait for 10µs
*hardwarePort &= ~pin;//Deactivate port
*hardwareDDR &= ~pin;//Set pin input
*hardwarePort &= ~pin;//Deactivate port
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Wait response; Pin:",1,4);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
uint16 i;
//Wait for response
for(uint16 i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
for(i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
//Calculate duration of response
while((*hardwarePin & pin)&&(result < 300000))
{
result++;
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
}
return (float(result) * DISTANCE_PER_VALUE);

View file

@ -5,5 +5,5 @@ uint16 IR_Sensor::GetIRIntensity()
{
if(!parent) return 0;
return parent->GetADCValue(channel);
return min(parent->GetADCValue(channel) + this->intensityCorrection, 1023);
}

View file

@ -12,12 +12,14 @@ public:
{
this->parent = NULL;
this->moduleId = 0;
this->intensityCorrection = 0;
}
IR_Sensor(uint32 sensorId)
{
this->parent = NULL;
this->moduleId = sensorId;
this->intensityCorrection = 0;
switch(sensorId)
{
@ -32,12 +34,15 @@ public:
break;
case IO_SENSOR_IR_100_DEG:
this->channel = 3;
this->intensityCorrection = 40;
break;
case IO_SENSOR_IR_180_DEG:
this->channel = 4;
this->intensityCorrection = 50;
break;
case IO_SENSOR_IR_260_DEG:
this->channel = 5;
this->intensityCorrection = 70;
break;
case IO_SENSOR_IR_300_DEG:
this->channel = 6;
@ -55,6 +60,8 @@ protected:
//Hardware
uint8 channel;
uint8 intensityCorrection;
public:
uint16 GetIRIntensity();
};