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This commit is contained in:
sicarius 2007-02-22 20:59:02 +00:00
parent dc8b1cde31
commit f544ab7822
14 changed files with 240 additions and 157 deletions
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100
source/Concept/Framework/modules/input/distance_sensor.c
View file

@ -1,22 +1,12 @@
#include "distance_sensor.h"
/*!
* SRF10 initialsieren
*/
void Distance_Sensor::srf10_init(void){
srf10_set_range(SRF10_MAX_RANGE);
//srf10_set_range(6); //Mit diesem Wert muss man spielen um das Optimum zu ermitteln
return;
}
/*!
* Verstaerkungsfaktor setzen
* @param gain Verstaerkungsfaktor
*/
void Distance_Sensor::srf10_set_gain(unsigned char gain){
if(gain>16) { gain=16; }
#include "distance_sensor.h"
//-----------------------------------------------------------------------------
void Distance_Sensor::SetSignalFactor(uint8 factor)
{
if(factor > 16)
{
factor = 16;
}
uint8 temp[2];
uint8 state;
@ -24,30 +14,59 @@ void Distance_Sensor::srf10_set_gain(unsigned char gain){
state = SUCCESS;
tx_frame[0].slave_adr = this->slaveAddr+W;
tx_frame[0].slave_adr = this->slaveAddr + W;
tx_frame[0].size = 2;
tx_frame[0].data_ptr = temp;
tx_frame[0].data_ptr[0] = 1;
tx_frame[0].data_ptr[1] = gain;
tx_frame[0].data_ptr[1] = factor;
tx_frame[1].slave_adr = OWN_ADR;
state = Send_to_TWI(tx_frame);
}
/*!
* Reichweite setzen, hat auch Einfluss auf die Messdauer
* @param millimeters Reichweite in mm
*/
void Distance_Sensor::srf10_set_range(unsigned int millimeters){
}
//-----------------------------------------------------------------------------
void Distance_Sensor::SetSlaveAddress(uint8 newSlaveAddress)
{
uint8 temp[2];
uint8 state;
tx_type tx_frame[2];
state = SUCCESS;
millimeters= (millimeters/43);
tx_frame[0].slave_adr = this->slaveAddr + W;
tx_frame[0].size = 2;
tx_frame[0].data_ptr = temp;
tx_frame[0].data_ptr[0] = 0;
tx_frame[0].data_ptr[1] = 160;
tx_frame[1].slave_adr = OWN_ADR;
state = Send_to_TWI(tx_frame);
msleep(60);
tx_frame[0].data_ptr[1] = 170;
state = Send_to_TWI(tx_frame);
msleep(60);
tx_frame[0].data_ptr[1] = 165;
state = Send_to_TWI(tx_frame);
msleep(60);
tx_frame[0].data_ptr[1] = newSlaveAddress;
state = Send_to_TWI(tx_frame);
}
//-----------------------------------------------------------------------------
void Distance_Sensor::SetRange(unsigned int millimeters){
uint8 temp[2];
uint8 state;
tx_type tx_frame[2];
state = SUCCESS;
millimeters = (millimeters/43);
tx_frame[0].slave_adr = this->slaveAddr+W;
tx_frame[0].size = 2;
@ -85,14 +104,9 @@ uint8 Distance_Sensor::srf10_ping(uint8 metric_unit){
return state;
}
/*!
* Register auslesen
* @param srf10_register welches Register soll ausgelsen werden
* @return Inhalt des Registers
*/
uint8 Distance_Sensor::srf10_read_register(uint8 srf10_register){
//-----------------------------------------------------------------------------
uint8 Distance_Sensor::ReadRegister(uint8 registerToRead){
uint8 temp;
uint8 value;
uint8 state;
@ -104,7 +118,7 @@ uint8 Distance_Sensor::srf10_read_register(uint8 srf10_register){
tx_frame[0].slave_adr = this->slaveAddr+W;
tx_frame[0].size = 1;
tx_frame[0].data_ptr = &temp;
tx_frame[0].data_ptr[0] = srf10_register;
tx_frame[0].data_ptr[0] = registerToRead;
tx_frame[1].slave_adr = this->slaveAddr+R;
tx_frame[1].size = 1;
@ -130,10 +144,10 @@ uint16 Distance_Sensor::srf10_get_measure(){
state = SUCCESS;
state = srf10_ping(SRF10_CENTIMETERS);
usleep(10); //Optimierungs Potential
lob=srf10_read_register(SRF10_LOB);
usleep(10); //Optimierungs Potential
hib=srf10_read_register(SRF1sr0_HIB);
msleep(10); //Optimierungs Potential
lob=ReadRegister(SRF10_LOB);
msleep(10); //Optimierungs Potential
hib=ReadRegister(SRF10_HIB);
return (hib*256)+lob;
}

47
source/Concept/Framework/modules/input/distance_sensor.h
View file

@ -9,9 +9,9 @@
#define SRF10_MIN_RANGE 0 /*!< Minimale Reichweite 43mm */
#define SRF10_MAX_RANGE 5977 /*!< Maximale Reichweite 5977mm */
#define SRF10_INCHES 0X50 /*!< Messung in INCHES */
#define SRF10_CENTIMETERS 0X51 /*!< Messung in CM */
#define SRF10_MICROSECONDS 0X52 /*!< Messung in Millisekunden */
#define SRF10_INCHES 0x50 /*!< Messung in INCHES */
#define SRF10_CENTIMETERS 0x51 /*!< Messung in CM */
#define SRF10_MICROSECONDS 0x52 /*!< Messung in Millisekunden */
#define SRF10_COMMAND 0 /*!< W=Befehls-Register R=Firmware*/
#define SRF10_LIGHT 1 /*!< W=Verstaerkungsfaktor R=Nicht benutzt */
@ -50,55 +50,44 @@ public:
default:
this->slaveAddr = 0;
break;
}
// initialiate the sensor
srf10_init();
}
//SetRange(100);
SetRange(2000);
SetSignalFactor(0x06);
}
protected:
//Hardware
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);
uint8 slaveAddr;
void SetSignalFactor(uint8 factor);
void SetRange(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);
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);
uint8 ReadRegister(uint8 registerToRead);
/*!
* Messung starten Ergebniss aufbereiten und zurueckgeben
* @return Messergebniss
*/
extern uint16 srf10_get_measure(void);
uint16 srf10_get_measure(void);
public:
float GetDistance();
uint16 GetDistance();
void SetSlaveAddress(uint8 newSlaveAddress);
};
#endif

4
source/Concept/Framework/modules/input/ir_sensor.h
View file

@ -34,11 +34,11 @@ public:
break;
case IO_SENSOR_IR_100_DEG:
this->channel = 3;
this->intensityCorrection = 40;
this->intensityCorrection = 80;
break;
case IO_SENSOR_IR_180_DEG:
this->channel = 4;
this->intensityCorrection = 50;
this->intensityCorrection = 70;
break;
case IO_SENSOR_IR_260_DEG:
this->channel = 5;