101 lines
2.4 KiB
C++
Executable file
101 lines
2.4 KiB
C++
Executable file
#ifndef _DISTANCE_SENSOR_H
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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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#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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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->slaveAddr = 0; // Set the I2C Slave-Adress
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}
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Distance_Sensor(uint32 sensorId)
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{
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this->parent = NULL;
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this->moduleId = sensorId;
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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->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->slaveAddr = 0xE2;
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break;
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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->slaveAddr = 0xE6;
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break;
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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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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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};
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#endif
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