diff options
Diffstat (limited to 'source/Concept/Framework/modules/input')
| -rwxr-xr-x | source/Concept/Framework/modules/input/distance_sensor.c | 96 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/input/distance_sensor.h | 47 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/input/ir_sensor.h | 4 |
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;
|