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/*
* 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.c
* @brief Ansteuerung des Ultraschall Entfernungssensors SRF10
* @author Carsten Giesen (info@cnau.de)
* @date 08.04.06
*/
#ifdef MCU
#include <avr/io.h>
#include "TWI_driver.h"
#include "srf10.h"
#include "delay.h"
static uint8 address=SRF10_UNIT_0;
/*!
* SRF10 initialsieren
*/
void 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 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 = address+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 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 = address+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 srf10_ping(uint8 metric_unit){
uint8 temp[2];
uint8 state;
tx_type tx_frame[2];
state = SUCCESS;
tx_frame[0].slave_adr = address+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 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 = address+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 = address+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 srf10_get_measure(){
char hib;
char lob;
char state;
state = SUCCESS;
state = srf10_ping(SRF10_CENTIMETERS);
delay(10); //Optimierungs Potential
lob=srf10_read_register(SRF10_LOB);
delay(10); //Optimierungs Potential
hib=srf10_read_register(SRF10_HIB);
return (hib*256)+lob;
}
#endif
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