1 files changed, 55 insertions, 41 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;
 }