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#include "distance_sensor.h"
//-----------------------------------------------------------------------------
void Distance_Sensor::SetSignalFactor(uint8 factor)
{
if(factor > 16)
{
factor = 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] = 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);
}
//-----------------------------------------------------------------------------
void Distance_Sensor::SetRange(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;
}
//-----------------------------------------------------------------------------
uint8 Distance_Sensor::ReadRegister(uint8 registerToRead){
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] = registerToRead;
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);
msleep(10); //Optimierungs Potential
lob=ReadRegister(SRF10_LOB);
msleep(10); //Optimierungs Potential
hib=ReadRegister(SRF10_HIB);
return (hib*256)+lob;
}
//-----------------------------------------------------------------------------
uint16 Distance_Sensor::GetDistance()
{
return srf10_get_measure();
}
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