We have a SRF10, not SRF05
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meyma
parent
655dd7522f
commit
d7ac8f546a
4 changed files with 470 additions and 75 deletions
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@ -1,41 +1,145 @@
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#include "distance_sensor.h"
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/*!
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* SRF10 initialsieren
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*/
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void Distance_Sensor::srf10_init(void){
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srf10_set_range(SRF10_MAX_RANGE);
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//srf10_set_range(6); //Mit diesem Wert muss man spielen um das Optimum zu ermitteln
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return;
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}
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/*!
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* Verstaerkungsfaktor setzen
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* @param gain Verstaerkungsfaktor
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*/
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void Distance_Sensor::srf10_set_gain(unsigned char gain){
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if(gain>16) { gain=16; }
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uint8 temp[2];
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uint8 state;
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tx_type tx_frame[2];
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state = SUCCESS;
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tx_frame[0].slave_adr = this->slaveAddr+W;
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tx_frame[0].size = 2;
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tx_frame[0].data_ptr = temp;
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tx_frame[0].data_ptr[0] = 1;
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tx_frame[0].data_ptr[1] = gain;
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tx_frame[1].slave_adr = OWN_ADR;
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state = Send_to_TWI(tx_frame);
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}
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/*!
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* Reichweite setzen, hat auch Einfluss auf die Messdauer
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* @param millimeters Reichweite in mm
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*/
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void Distance_Sensor::srf10_set_range(unsigned int millimeters){
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uint8 temp[2];
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uint8 state;
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tx_type tx_frame[2];
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state = SUCCESS;
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millimeters= (millimeters/43);
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tx_frame[0].slave_adr = this->slaveAddr+W;
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tx_frame[0].size = 2;
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tx_frame[0].data_ptr = temp;
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tx_frame[0].data_ptr[0] = 2;
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tx_frame[0].data_ptr[1] = millimeters;
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tx_frame[1].slave_adr = OWN_ADR;
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state = Send_to_TWI(tx_frame);
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}
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/*!
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* Messung ausloesen
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* @param metric_unit 0x50 in Zoll, 0x51 in cm, 0x52 ms
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* @return Resultat der Aktion
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*/
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uint8 Distance_Sensor::srf10_ping(uint8 metric_unit){
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uint8 temp[2];
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uint8 state;
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tx_type tx_frame[2];
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state = SUCCESS;
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tx_frame[0].slave_adr = this->slaveAddr+W;
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tx_frame[0].size = 2;
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tx_frame[0].data_ptr = temp;
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tx_frame[0].data_ptr[0] = SRF10_COMMAND;
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tx_frame[0].data_ptr[1] = metric_unit;
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tx_frame[1].slave_adr = OWN_ADR;
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state = Send_to_TWI(tx_frame);
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return state;
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}
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/*!
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* Register auslesen
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* @param srf10_register welches Register soll ausgelsen werden
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* @return Inhalt des Registers
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*/
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uint8 Distance_Sensor::srf10_read_register(uint8 srf10_register){
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uint8 temp;
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uint8 value;
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uint8 state;
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tx_type tx_frame[3];
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state = SUCCESS;
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value = 0;
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tx_frame[0].slave_adr = this->slaveAddr+W;
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tx_frame[0].size = 1;
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tx_frame[0].data_ptr = &temp;
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tx_frame[0].data_ptr[0] = srf10_register;
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tx_frame[1].slave_adr = this->slaveAddr+R;
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tx_frame[1].size = 1;
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tx_frame[1].data_ptr = &value;
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tx_frame[2].slave_adr = OWN_ADR;
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state = Send_to_TWI(tx_frame);
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return value;
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}
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/*!
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* Messung starten Ergebniss aufbereiten und zurueckgeben
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* @return Messergebniss
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*/
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uint16 Distance_Sensor::srf10_get_measure(){
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char hib;
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char lob;
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char state;
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state = SUCCESS;
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state = srf10_ping(SRF10_CENTIMETERS);
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usleep(10); //Optimierungs Potential
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lob=srf10_read_register(SRF10_LOB);
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usleep(10); //Optimierungs Potential
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hib=srf10_read_register(SRF1sr0_HIB);
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return (hib*256)+lob;
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}
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//-----------------------------------------------------------------------------
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float Distance_Sensor::GetDistance()
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uint16 Distance_Sensor::GetDistance()
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{
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uint32 result = 0;
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//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Gen Pulse; Pin:",1,4);
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//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
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msleep(500);
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//Generate pulse
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*hardwareDDR |= pin;//Set pin output
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*hardwarePort |= pin;//Activate port
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usleep(10);//Wait for 10ľs
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*hardwareDDR &= ~pin;//Set pin input
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*hardwarePort &= ~pin;//Deactivate port
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//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Wait response; Pin:",1,4);
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//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
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uint16 i;
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//Wait for response
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for(i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
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//Calculate duration of response
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while((*hardwarePin & pin)&&(result < 300000))
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{
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result++;
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asm volatile("nop");
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asm volatile("nop");
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asm volatile("nop");
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asm volatile("nop");
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asm volatile("nop");
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asm volatile("nop");
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asm volatile("nop");
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}
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return (float(result) * DISTANCE_PER_VALUE);
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return srf10_get_measure();
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}
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@ -2,7 +2,21 @@
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#define _DISTANCE_SENSOR_H
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#include "../../stdafx.h"
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#include "sensor.h"
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#include "sensor.h"
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#define SRF10_MIN_GAIN 0 /*!< setze Verstaerung auf 40 */
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#define SRF10_MAX_GAIN 16 /*!< setze Verstaerung auf 700 */
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#define SRF10_MIN_RANGE 0 /*!< Minimale Reichweite 43mm */
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#define SRF10_MAX_RANGE 5977 /*!< Maximale Reichweite 5977mm */
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#define SRF10_INCHES 0X50 /*!< Messung in INCHES */
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#define SRF10_CENTIMETERS 0X51 /*!< Messung in CM */
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#define SRF10_MICROSECONDS 0X52 /*!< Messung in Millisekunden */
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#define SRF10_COMMAND 0 /*!< W=Befehls-Register R=Firmware*/
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#define SRF10_LIGHT 1 /*!< W=Verstaerkungsfaktor R=Nicht benutzt */
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#define SRF10_HIB 2 /*!< W=Reichweite R=Messung High-Byte */
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#define SRF10_LOB 3 /*!< W=Nicht benutzt R=Messung Low-Byte */
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class Distance_Sensor : public Sensor
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{
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@ -10,11 +24,8 @@ public:
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Distance_Sensor()
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{
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this->parent = NULL;
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this->moduleId = 0;
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this->hardwarePort = NULL;
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this->hardwareDDR = NULL;
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this->hardwarePin = NULL;
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this->pin = 0;
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this->moduleId = 0;
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this->slaveAddr = 0; // Set the I2C Slave-Adress
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}
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Distance_Sensor(uint32 sensorId)
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@ -24,45 +35,64 @@ public:
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switch(sensorId)
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{
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case IO_SENSOR_DISTANCE_0_DEG:
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this->hardwarePort = &PORTC;
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this->hardwareDDR = &DDRC;
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this->hardwarePin = &PINC;
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this->pin = (1 << 0);
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case IO_SENSOR_DISTANCE_0_DEG:
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this->slaveAddr = 0xE0; // Set the I2C Slave-Adress
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break;
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case IO_SENSOR_DISTANCE_90_DEG:
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this->hardwarePort = &PORTC;
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this->hardwareDDR = &DDRC;
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this->hardwarePin = &PINC;
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this->pin = (1 << 1);
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case IO_SENSOR_DISTANCE_90_DEG:
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this->slaveAddr = 0xE2;
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break;
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case IO_SENSOR_DISTANCE_180_DEG:
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this->hardwarePort = &PORTC;
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this->hardwareDDR = &DDRC;
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this->hardwarePin = &PINC;
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this->pin = (1 << 2);
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case IO_SENSOR_DISTANCE_180_DEG:
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this->slaveAddr = 0xE4;
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break;
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case IO_SENSOR_DISTANCE_270_DEG:
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this->hardwarePort = &PORTC;
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this->hardwareDDR = &DDRC;
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this->hardwarePin = &PINC;
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this->pin = (1 << 3);
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case IO_SENSOR_DISTANCE_270_DEG:
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this->slaveAddr = 0xE6;
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break;
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default:
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this->hardwarePort = NULL;
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this->hardwareDDR = NULL;
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this->hardwarePin = NULL;
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this->pin = 0;
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default:
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this->slaveAddr = 0;
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break;
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}
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}
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protected:
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//Hardware
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volatile uint8* hardwarePort;
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volatile uint8* hardwareDDR;
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volatile uint8* hardwarePin;
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uint8 pin;
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//Hardware
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slaveAddr;
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/*!
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* SRF10 initialsieren
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*/
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extern void srf10_init(void);
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/*!
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* Verstaerkungsfaktor setzen
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* @param gain Verstaerkungsfaktor
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*/
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extern void srf10_set_gain(uint8 gain);
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/*!
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* Reichweite setzen, hat auch Einfluss auf die Messdauer
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* @param millimeters Reichweite in mm
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*/
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extern void srf10_set_range(uint16 millimeters);
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/*!
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* Messung ausloesen
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* @param metric_unit 0x50 in Zoll, 0x51 in cm, 0x52 ms
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* @return Resultat der Aktion
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*/
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extern uint8 srf10_ping(uint8 metric_unit);
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/*!
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* Register auslesen
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* @param srf10_register welches Register soll ausgelsen werden
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* @return Inhalt des Registers
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*/
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extern uint8 srf10_read_register(uint8 SRF10_register);
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/*!
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* Messung starten Ergebniss aufbereiten und zurueckgeben
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* @return Messergebniss
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*/
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extern uint16 srf10_get_measure(void);
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public:
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float GetDistance();
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