diff options
Diffstat (limited to 'source/Concept/Framework/modules')
| -rwxr-xr-x | source/Concept/Framework/modules/input/distance_sensor.c | 176 | ||||
| -rwxr-xr-x | source/Concept/Framework/modules/input/distance_sensor.h | 102 |
2 files changed, 206 insertions, 72 deletions
diff --git a/source/Concept/Framework/modules/input/distance_sensor.c b/source/Concept/Framework/modules/input/distance_sensor.c index e6fd3f8..1ab3755 100755 --- a/source/Concept/Framework/modules/input/distance_sensor.c +++ b/source/Concept/Framework/modules/input/distance_sensor.c @@ -1,41 +1,145 @@ #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; } + + 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] = 1; + tx_frame[0].data_ptr[1] = gain; + + tx_frame[1].slave_adr = OWN_ADR; + + 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){ + uint8 temp[2]; + uint8 state; + tx_type tx_frame[2]; + + state = SUCCESS; + + millimeters= (millimeters/43); + + 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] = 2; + tx_frame[0].data_ptr[1] = millimeters; + + tx_frame[1].slave_adr = OWN_ADR; + + state = Send_to_TWI(tx_frame); +} + +/*! + * Messung ausloesen + * @param metric_unit 0x50 in Zoll, 0x51 in cm, 0x52 ms + * @return Resultat der Aktion + */ + +uint8 Distance_Sensor::srf10_ping(uint8 metric_unit){ + 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] = SRF10_COMMAND; + tx_frame[0].data_ptr[1] = metric_unit; + + tx_frame[1].slave_adr = OWN_ADR; + + state = Send_to_TWI(tx_frame); + + 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 temp; + uint8 value; + uint8 state; + tx_type tx_frame[3]; + + state = SUCCESS; + value = 0; + + 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[1].slave_adr = this->slaveAddr+R; + tx_frame[1].size = 1; + tx_frame[1].data_ptr = &value; + + tx_frame[2].slave_adr = OWN_ADR; + + state = Send_to_TWI(tx_frame); + + return value; +} + +/*! + * Messung starten Ergebniss aufbereiten und zurueckgeben + * @return Messergebniss + */ + +uint16 Distance_Sensor::srf10_get_measure(){ + char hib; + char lob; + char state; + + 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); + + return (hib*256)+lob; +} //-----------------------------------------------------------------------------
-float Distance_Sensor::GetDistance()
+uint16 Distance_Sensor::GetDistance()
{
- uint32 result = 0;
-
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Gen Pulse; Pin:",1,4);
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
-
- msleep(500);
-
- //Generate pulse
- *hardwareDDR |= pin;//Set pin output
- *hardwarePort |= pin;//Activate port
- usleep(10);//Wait for 10µs
- *hardwareDDR &= ~pin;//Set pin input
- *hardwarePort &= ~pin;//Deactivate port
-
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Wait response; Pin:",1,4);
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
-
- uint16 i;
- //Wait for response
- for(i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
-
- //Calculate duration of response
- while((*hardwarePin & pin)&&(result < 300000))
- {
- result++;
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- }
-
- return (float(result) * DISTANCE_PER_VALUE);
+ return srf10_get_measure();
}
diff --git a/source/Concept/Framework/modules/input/distance_sensor.h b/source/Concept/Framework/modules/input/distance_sensor.h index 8e6aa21..9efa021 100755 --- a/source/Concept/Framework/modules/input/distance_sensor.h +++ b/source/Concept/Framework/modules/input/distance_sensor.h @@ -2,7 +2,21 @@ #define _DISTANCE_SENSOR_H
#include "../../stdafx.h"
-#include "sensor.h"
+#include "sensor.h" + +#define SRF10_MIN_GAIN 0 /*!< setze Verstaerung auf 40 */ +#define SRF10_MAX_GAIN 16 /*!< setze Verstaerung auf 700 */ +#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_COMMAND 0 /*!< W=Befehls-Register R=Firmware*/ +#define SRF10_LIGHT 1 /*!< W=Verstaerkungsfaktor R=Nicht benutzt */ +#define SRF10_HIB 2 /*!< W=Reichweite R=Messung High-Byte */ +#define SRF10_LOB 3 /*!< W=Nicht benutzt R=Messung Low-Byte */
class Distance_Sensor : public Sensor
{
@@ -10,11 +24,8 @@ public: Distance_Sensor()
{
this->parent = NULL;
- this->moduleId = 0;
- this->hardwarePort = NULL;
- this->hardwareDDR = NULL;
- this->hardwarePin = NULL;
- this->pin = 0;
+ this->moduleId = 0; + this->slaveAddr = 0; // Set the I2C Slave-Adress
}
Distance_Sensor(uint32 sensorId)
@@ -24,45 +35,64 @@ public: switch(sensorId)
{
- case IO_SENSOR_DISTANCE_0_DEG:
- this->hardwarePort = &PORTC;
- this->hardwareDDR = &DDRC;
- this->hardwarePin = &PINC;
- this->pin = (1 << 0);
+ case IO_SENSOR_DISTANCE_0_DEG: + this->slaveAddr = 0xE0; // Set the I2C Slave-Adress
break;
- case IO_SENSOR_DISTANCE_90_DEG:
- this->hardwarePort = &PORTC;
- this->hardwareDDR = &DDRC;
- this->hardwarePin = &PINC;
- this->pin = (1 << 1);
+ case IO_SENSOR_DISTANCE_90_DEG: + this->slaveAddr = 0xE2;
break;
- case IO_SENSOR_DISTANCE_180_DEG:
- this->hardwarePort = &PORTC;
- this->hardwareDDR = &DDRC;
- this->hardwarePin = &PINC;
- this->pin = (1 << 2);
+ case IO_SENSOR_DISTANCE_180_DEG: + this->slaveAddr = 0xE4;
break;
- case IO_SENSOR_DISTANCE_270_DEG:
- this->hardwarePort = &PORTC;
- this->hardwareDDR = &DDRC;
- this->hardwarePin = &PINC;
- this->pin = (1 << 3);
+ case IO_SENSOR_DISTANCE_270_DEG: + this->slaveAddr = 0xE6;
break;
- default:
- this->hardwarePort = NULL;
- this->hardwareDDR = NULL;
- this->hardwarePin = NULL;
- this->pin = 0;
+ default: + this->slaveAddr = 0;
break;
}
}
protected:
- //Hardware
- volatile uint8* hardwarePort;
- volatile uint8* hardwareDDR;
- volatile uint8* hardwarePin;
- uint8 pin;
+ //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); + +/*! + * Messung ausloesen + * @param metric_unit 0x50 in Zoll, 0x51 in cm, 0x52 ms + * @return Resultat der Aktion + */ +extern 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); + +/*! + * Messung starten Ergebniss aufbereiten und zurueckgeben + * @return Messergebniss + */ +extern uint16 srf10_get_measure(void); public:
float GetDistance();
|