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Diffstat (limited to 'source/ct-Bot/include/srf10.h')
| -rw-r--r-- | source/ct-Bot/include/srf10.h | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/source/ct-Bot/include/srf10.h b/source/ct-Bot/include/srf10.h new file mode 100644 index 0000000..e18f5ec --- /dev/null +++ b/source/ct-Bot/include/srf10.h @@ -0,0 +1,105 @@ +/* + * c't-Sim - Robotersimulator fuer den c't-Bot + * + * This program is free software; you can redistribute it + * and/or modify it under the terms of the GNU General + * Public License as published by the Free Software + * Foundation; either version 2 of the License, or (at your + * option) any later version. + * This program is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. See the GNU General Public License for more details. + * You should have received a copy of the GNU General Public + * License along with this program; if not, write to the Free + * Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307, USA. + * + */ + +/*! @file srf10.h + * @brief Ansteuerung des Ultraschall Entfernungssensors SRF10 + * @author Chris efstathiou (hendrix@otenet.gr) & Carsten Giesen (info@cnau.de) + * @date 08.04.06 +*/ + + +#include "global.h" + +#ifndef srf10_H +#define srf10_H 1 + +/*! + * Es sind alle moeglichen Adressen eingetragen. In de Regel reicht aber die erste + * Der Code geht nur von SRF10_UNIT_0 aus, daher sind die anderen auskommentiert +*/ + +#define SRF10_UNIT_0 0xE0 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_1 0xE2 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_2 0xE4 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_3 0xE6 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_4 0xE8 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_5 0xEA /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_6 0xEC /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_7 0xEE /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_8 0xF0 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_9 0xF2 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_10 0xF4 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_11 0xF6 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_12 0xF8 /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_13 0xFA /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_14 0xFC /* the SRF10 MODULE I2C address */ +//#define SRF10_UNIT_15 0xFE /* the SRF10 MODULE I2C address */ + +#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 */ + +/*! + * 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); + +#endif /* #ifndef SRF10_H */ |