145 lines
2.9 KiB
C
Executable file
145 lines
2.9 KiB
C
Executable file
#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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uint16 Distance_Sensor::GetDistance()
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{
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return srf10_get_measure();
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}
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