From 56d9bdd39ed36c36e9a61411b86c76d5228b2133 Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Sun, 11 Feb 2007 18:32:03 +0000
Subject: Added lot's of code-files used during work

---
 source/ct-Bot/include/srf10.h | 105 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 105 insertions(+)
 create mode 100644 source/ct-Bot/include/srf10.h

(limited to 'source/ct-Bot/include/srf10.h')

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 */
-- 
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