The Last Day ?

3 files changed, 75 insertions, 72 deletions

diff --git a/source/Concept/Framework/modules/input/distance_sensor.c b/source/Concept/Framework/modules/input/distance_sensor.c
index 1ab3755..239e63b 100755
--- a/source/Concept/Framework/modules/input/distance_sensor.c
+++ b/source/Concept/Framework/modules/input/distance_sensor.c
@@ -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);
+}

+

+//-----------------------------------------------------------------------------
+void Distance_Sensor::SetSlaveAddress(uint8 newSlaveAddress)

+{
+	uint8 temp[2];
+	uint8 state;
+	tx_type tx_frame[2];
+	
+	state = SUCCESS;
+
+	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);
 }
 
-/*!
- * 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::SetRange(unsigned int millimeters){
 	uint8 temp[2];
 	uint8 state;
 	tx_type tx_frame[2];
 	
 	state = SUCCESS;
 
-    millimeters= (millimeters/43); 
+	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;
 }
diff --git a/source/Concept/Framework/modules/input/distance_sensor.h b/source/Concept/Framework/modules/input/distance_sensor.h
index 9fb2c58..0bb2baf 100755
--- a/source/Concept/Framework/modules/input/distance_sensor.h
+++ b/source/Concept/Framework/modules/input/distance_sensor.h
@@ -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
diff --git a/source/Concept/Framework/modules/input/ir_sensor.h b/source/Concept/Framework/modules/input/ir_sensor.h
index 74396ec..c8f692b 100755
--- a/source/Concept/Framework/modules/input/ir_sensor.h
+++ b/source/Concept/Framework/modules/input/ir_sensor.h
@@ -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;