From d7ac8f546afb75bd2d626b5cc639939337560cf6 Mon Sep 17 00:00:00 2001
From: meyma <devnull@localhost>
Date: Thu, 22 Feb 2007 14:08:01 +0000
Subject: We have a SRF10, not SRF05

---
 .../Framework/modules/input/distance_sensor.h      | 102 +++++++++++++--------
 1 file changed, 66 insertions(+), 36 deletions(-)

(limited to 'source/Concept/Framework/modules/input/distance_sensor.h')

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();
-- 
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