We have a SRF10, not SRF05
This commit is contained in:
meyma
parent
655dd7522f
commit
d7ac8f546a
4 changed files with 470 additions and 75 deletions
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@ -581,5 +581,173 @@ void uart1_puts_p(const char *progmem_s )
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}/* uart1_puts_p */
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/////////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////
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// TWI-Driver
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/*!
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* TWI Bus initialsieren
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* @return Resultat der Aktion
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*/
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int8 Init_TWI(void){
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TWAR = OWN_ADR; /*!< Eigenen Slave Adresse setzen */
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TWBR = 12; /*!< Setze Baudrate auf 100 KHz */
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/*!< 4 MHz xtal */
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TWCR = (1<<TWEN); /*!< TWI-Interface einschalten */
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return 1;
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}
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/*!
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* TWI Buss schliesen
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* @return Resultat der Aktion
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*/
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int8 Close_TWI(void){
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TWCR = (0<<TWEN); /*!< TWI-Interface ausschalten */
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return 0;
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}
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/*!
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* Warte auf TWI interrupt
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*/
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void Wait_TWI_int(void){
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while (!(TWCR & (1<<TWINT)))
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;
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}
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/*!
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* Sende Start Sequence
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* @return Resultat der Aktion
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*/
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uint8 Send_start(void){
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TWCR = ((1<<TWINT)+(1<<TWSTA)+(1<<TWEN)); /*!< Sende START */
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Wait_TWI_int(); /*!< Warte auf TWI interrupt */
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if((TWSR != START)&&(TWSR != REP_START)) /*!< Ist der Status ein Anderer als Start (0x08) oder wiederholter Start (0x10) */
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return TWSR; /*!< -> error und Rueckgabe TWSR. */
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return SUCCESS; /*!< wenn OK Rueckgabe SUCCESS */
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}
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/*!
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* Sende Stop Sequence
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*/
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void Send_stop(void){
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TWCR = ((1<<TWEN)+(1<<TWINT)+(1<<TWSTO));
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}
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/*!
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* Hier wird der eigentliche TWI-Treiber angesprochen
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* @param *data_pack Container mit den Daten fuer den Treiber
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* @return Resultat der Aktion
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*/
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uint8 Send_to_TWI(tx_type *data_pack){
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uint8 state,i,j;
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state = SUCCESS;
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for(i=0;(data_pack[i].slave_adr != OWN_ADR)&&(state == SUCCESS);i++) {
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state = Send_start();
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if (state == SUCCESS)
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state = Send_adr(data_pack[i].slave_adr);
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/*!
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* Abhaengig von W/R senden oder empfangen
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*/
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if(!(data_pack[i].slave_adr & R)) {
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if (state == SUCCESS){
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/*!
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* Wenn W bis alle Daten gesendet sind
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*/
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for(j=0;((j<data_pack[i].size)&&(state == SUCCESS));j++)
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state = Send_byte(data_pack[i].data_ptr[j]);
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}
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}
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else{
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if (state == MRX_ADR_NACK) {
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state = Send_start();
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}
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if (state == SUCCESS){
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/*!
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* Wenn R bis alle Daten empfangen sind
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*/
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for(j=0;((j<data_pack[i].size)&&(state == SUCCESS));j++){
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/*!
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* Wenn wir keine Daten mehr erwarten NACK senden
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*/
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if(j == data_pack[i].size-1)
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state = Get_byte(data_pack[i].data_ptr++,0);
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else
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state = Get_byte(data_pack[i].data_ptr++,1);
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}
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}
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}
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Send_stop();
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}
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Close_TWI();
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return state;
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}
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/*!
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* Sende ein Byte
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* @param data das zu uebertragende Byte
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*/
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uint8 Send_byte(uint8 data){
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Wait_TWI_int();
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TWDR = data;
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TWCR = ((1<<TWINT)+(1<<TWEN));
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Wait_TWI_int();
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if(TWSR != MTX_DATA_ACK)
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return TWSR;
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return SUCCESS;
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}
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/*!
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* Sende Slave Adresse
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* @param adr die gewuenschte Adresse
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* @return Resultat der Aktion
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*/
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uint8 Send_adr(uint8 adr){
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Wait_TWI_int();
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TWDR = adr;
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TWCR = ((1<<TWINT)+(1<<TWEN));
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Wait_TWI_int();
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if((TWSR != MTX_ADR_ACK)&&(TWSR != MRX_ADR_ACK))
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return TWSR;
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return SUCCESS;
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}
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/*!
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* Empfange ein Byte
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* @param *rx_ptr Container fuer die Daten
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* @param last_byte Flag ob noch Daten erwartet werden
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* @return Resultat der Aktion
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*/
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uint8 Get_byte(uint8 *rx_ptr,uint8 last_byte){
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Wait_TWI_int();
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if(last_byte)
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TWCR = ((1<<TWINT)+(1<<TWEA)+(1<<TWEN));
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else
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TWCR = ((1<<TWINT)+(1<<TWEN));
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Wait_TWI_int();
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*rx_ptr = TWDR;
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if(((TWSR == MRX_DATA_NACK)&&(last_byte == 0))||(TWSR == MRX_DATA_ACK))
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return SUCCESS;
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return TWSR;
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}
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#endif
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@ -180,4 +180,97 @@ extern void uart1_puts_p(const char *s );
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/**@}*/
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/////////////////////////////////////////////////////
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/////////////////////////////////////////////////////
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// TWI-Driver
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/*!
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Struktur Definition
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tx_type ist eine Datenstruktur um den TWI Treiber anzusprechen
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und behinhaltet folgende Informationen:
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Slave Adresse + Datenrichtung
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Anzahl der zu uebertragendenden Bytes (Senden oder Empfangen)
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Pointer auf den Sende- oder Empfangspuffer
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*/
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typedef struct
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{
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uint8 slave_adr; /*!< Slave Adresse and W/R byte */
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uint8 size; /*!< Anzahl der Bytes, die gesendet oder empfagen werden sollen */
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uint8 *data_ptr; /*!< Pointer zum Sende und Empfangs Puffer */
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}tx_type;
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/*!
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* Hier wird der eigentliche TWI-Treiber angesprochen
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* @param *data_pack Container mit den Daten fuer den Treiber
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* @return Resultat der Aktion
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*/
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extern uint8 Send_to_TWI(tx_type *data_pack);
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/*!
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* Sende ein Byte
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* @param data das zu uebertragende Byte
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*/
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extern uint8 Send_byte(uint8 data);
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/*!
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* Empfange ein Byte
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* @param *rx_ptr Container f<EFBFBD>r die Daten
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* @param last_byte Flag ob noch Daten erwartet werden
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* @return Resultat der Aktion
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*/
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extern uint8 Get_byte(uint8 *rx_ptr, uint8 last_byte);
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/*!
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* Sende Start Sequence
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* @return Resultat der Aktion
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*/
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extern uint8 Send_start(void);
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/*!
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* Sende Slave Adresse
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* @param adr die gewuenschte Adresse
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* @return Resultat der Aktion
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*/
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extern uint8 Send_adr(uint8 adr);
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/*!
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* Sende Stop Sequence
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*/
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extern void Send_stop(void);
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/*!
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* Warte auf TWI interrupt
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*/
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extern void Wait_TWI_int(void);
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/*!
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* TWI Bus initialsieren
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* @return Resultat der Aktion
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*/
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extern int8 Init_TWI(void);
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/*!
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* TWI Bus schliesen
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* @return Resultat der Aktion
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*/
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extern int8 Close_TWI(void);
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#define W 0 /*!< Daten Transfer Richtung Schreiben */
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#define R 1 /*!< Daten Transfer Richtung Lesen */
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#define OWN_ADR 60 /*!< Die eigene Slave Adresse */
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#define SUCCESS 0xFF /*!< Status Code alles OK */
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/*!
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TWI Stautus Register Definitionen
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*/
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/*!< Genereller Master Statuscode */
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#define START 0x08 /*!< START wurde uebertragen */
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#define REP_START 0x10 /*!< Wiederholter START wurde uebertragen */
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/*!< Master Sender Statuscode */
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#define MTX_ADR_ACK 0x18 /*!< SLA+W wurde uebertragen und ACK empfangen */
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#define MTX_ADR_NACK 0x20 /*!< SLA+W wurde uebertragen und NACK empfangen */
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#define MTX_DATA_ACK 0x28 /*!< Datenbyte wurde uebertragen und ACK empfangen */
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#define MTX_DATA_NACK 0x30 /*!< Datenbyte wurde uebertragen und NACK empfangen */
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#define MTX_ARB_LOST 0x38 /*!< Schlichtung verloren in SLA+W oder Datenbytes */
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/*!< Master Empfaenger Statuscode */
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#define MRX_ARB_LOST 0x38 /*!< Schlichtung verloren in SLA+R oder NACK bit */
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#define MRX_ADR_ACK 0x40 /*!< SLA+R wurde uebertragen und ACK empfangen */
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#define MRX_ADR_NACK 0x48 /*!< SLA+R wurde uebertragen und NACK empfangen */
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#define MRX_DATA_ACK 0x50 /*!< Datenbyte wurde empfangen und ACK gesendet */
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#define MRX_DATA_NACK 0x58 /*!< Datenbyte wurde empfangen und NACK gesendet */
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#endif
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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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@ -4,6 +4,20 @@
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#include "../../stdafx.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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public:
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@ -11,10 +25,7 @@ public:
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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->slaveAddr = 0; // Set the I2C Slave-Adress
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}
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Distance_Sensor(uint32 sensorId)
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@ -25,44 +36,63 @@ public:
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switch(sensorId)
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{
|
||||
case IO_SENSOR_DISTANCE_0_DEG:
|
||||
this->hardwarePort = &PORTC;
|
||||
this->hardwareDDR = &DDRC;
|
||||
this->hardwarePin = &PINC;
|
||||
this->pin = (1 << 0);
|
||||
this->slaveAddr = 0xE0; // Set the I2C Slave-Adress
|
||||
break;
|
||||
case IO_SENSOR_DISTANCE_90_DEG:
|
||||
this->hardwarePort = &PORTC;
|
||||
this->hardwareDDR = &DDRC;
|
||||
this->hardwarePin = &PINC;
|
||||
this->pin = (1 << 1);
|
||||
this->slaveAddr = 0xE2;
|
||||
break;
|
||||
case IO_SENSOR_DISTANCE_180_DEG:
|
||||
this->hardwarePort = &PORTC;
|
||||
this->hardwareDDR = &DDRC;
|
||||
this->hardwarePin = &PINC;
|
||||
this->pin = (1 << 2);
|
||||
this->slaveAddr = 0xE4;
|
||||
break;
|
||||
case IO_SENSOR_DISTANCE_270_DEG:
|
||||
this->hardwarePort = &PORTC;
|
||||
this->hardwareDDR = &DDRC;
|
||||
this->hardwarePin = &PINC;
|
||||
this->pin = (1 << 3);
|
||||
this->slaveAddr = 0xE6;
|
||||
break;
|
||||
default:
|
||||
this->hardwarePort = NULL;
|
||||
this->hardwareDDR = NULL;
|
||||
this->hardwarePin = NULL;
|
||||
this->pin = 0;
|
||||
this->slaveAddr = 0;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
protected:
|
||||
//Hardware
|
||||
volatile uint8* hardwarePort;
|
||||
volatile uint8* hardwareDDR;
|
||||
volatile uint8* hardwarePin;
|
||||
uint8 pin;
|
||||
slaveAddr;
|
||||
|
||||
/*!
|
||||
* SRF10 initialsieren
|
||||
*/
|
||||
extern void srf10_init(void);
|
||||
|
||||
/*!
|
||||
* Verstaerkungsfaktor setzen
|
||||
* @param gain Verstaerkungsfaktor
|
||||
*/
|
||||
extern void srf10_set_gain(uint8 gain);
|
||||
|
||||
/*!
|
||||
* Reichweite setzen, hat auch Einfluss auf die Messdauer
|
||||
* @param millimeters Reichweite in mm
|
||||
*/
|
||||
extern void srf10_set_range(uint16 millimeters);
|
||||
|
||||
/*!
|
||||
* Messung ausloesen
|
||||
* @param metric_unit 0x50 in Zoll, 0x51 in cm, 0x52 ms
|
||||
* @return Resultat der Aktion
|
||||
*/
|
||||
extern uint8 srf10_ping(uint8 metric_unit);
|
||||
|
||||
/*!
|
||||
* Register auslesen
|
||||
* @param srf10_register welches Register soll ausgelsen werden
|
||||
* @return Inhalt des Registers
|
||||
*/
|
||||
extern uint8 srf10_read_register(uint8 SRF10_register);
|
||||
|
||||
/*!
|
||||
* Messung starten Ergebniss aufbereiten und zurueckgeben
|
||||
* @return Messergebniss
|
||||
*/
|
||||
extern uint16 srf10_get_measure(void);
|
||||
|
||||
public:
|
||||
float GetDistance();
|
||||
|
|
|
|||
Reference in a new issue