163 lines
4.4 KiB
C
163 lines
4.4 KiB
C
/*
|
|
* Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
|
|
*
|
|
* This file is subject to the terms and conditions of the GNU Lesser
|
|
* General Public License v2.1. See the file LICENSE in the top level
|
|
* directory for more details.
|
|
*/
|
|
|
|
/**
|
|
* @defgroup srf08 SRF08
|
|
* @ingroup drivers
|
|
* @brief Driver for the SRF08 ultrasonic range sensor
|
|
*
|
|
* The connection between the MCU and the SRF08 is based on the i2c-interface.
|
|
*
|
|
* @{
|
|
*
|
|
* @file
|
|
* @internal
|
|
* @brief Driver definitions for the SRF08 ultrasonic.
|
|
*
|
|
* The communication between the MCU and SRF08 is via the i2c interface.
|
|
*
|
|
* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
|
|
*/
|
|
|
|
#ifndef SRF08_ULTRASONIC_SENSOR_I2C_H_
|
|
#define SRF08_ULTRASONIC_SENSOR_I2C_H_
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/** @brief The sensors default I2C address */
|
|
#define SRF08_DEFAULT_ADDR 112
|
|
|
|
|
|
/** @brief The sensors command register (write) */
|
|
#define SRF08_COMMAND_REG 0x0
|
|
|
|
/** @brief Max. gain register (write) */
|
|
#define SRF08_GAIN_REG 0x1
|
|
|
|
/** @brief The sensors range register (write) */
|
|
#define SRF08_RANGE_REG 0x2
|
|
|
|
/** @brief The upper measurement byte (read) */
|
|
#define SRF08_RANGE_HIGH_BYTE 0x2
|
|
|
|
/** @brief The lower measurement byte (read)*/
|
|
#define SRF08_RANGE_LOW_BYTE 0x3
|
|
|
|
|
|
/** @brief Measure in inch mode */
|
|
#define SRF08_REAL_RANGING_MODE_CM 0x50
|
|
|
|
/** @brief Measure in cm mode */
|
|
#define SRF08_REAL_RANGING_MODE_CM 0x51
|
|
|
|
/** @brief Measure in micro-seconds mode */
|
|
#define SRF08_REAL_RANGING_MODE_CM 0x52
|
|
|
|
|
|
/** @brief Number of highest register */
|
|
#define SRF08_MAX_REGISTER_NUMBER 35
|
|
|
|
/** @brief Maximum number of echos from more distant objects */
|
|
#define SRF08_MAX_ECHO_NUMBER 17
|
|
|
|
|
|
/** @brief Define the used I2C Interface */
|
|
#define SRF08_I2C_INTERFACE I2C2 /* P0.10 SDA2, P0.11 SCL2 */
|
|
|
|
|
|
/**
|
|
* @brief Initialize the SRF08 ultrasonic sensor.
|
|
*
|
|
* @param[in] i2c_interface the i2c interface, several interfaces can be
|
|
* selected: i2c0, i2c1 and i2c2.
|
|
* @param[in] baud_rate the baud rate.
|
|
*
|
|
* @return true if the SRF08 is successfully initialized, otherwise false.
|
|
*
|
|
*/
|
|
bool srf08_init(uint8_t i2c_interface, uint32_t baud_rate);
|
|
|
|
|
|
/**
|
|
* @brief Start a continuous distance ranging with the SRF08 ultrasonic
|
|
* range-finder.
|
|
* The ranging results are given over the RS232-Interface.
|
|
*
|
|
* @param[in] ranging_mode there are three real ranging modes, which return
|
|
* the result in inches, centimeters or microseconds.
|
|
* Another set of three fake ranging modes do the same
|
|
* but without transmitting the burst.
|
|
*
|
|
*/
|
|
void srf08_start_ranging(uint8_t ranging_mode);
|
|
|
|
|
|
/**
|
|
* @brief Set the maximum range of the SRF08.
|
|
*
|
|
* @param[in] max_range the adjusted maximal range is:
|
|
* max_range = (max_rangex43mm) + 43mm.
|
|
*
|
|
*/
|
|
void srf08_set_range(uint8_t max_range);
|
|
|
|
|
|
/**
|
|
* @brief Set the maximum of the analog stages.
|
|
*
|
|
* @param[in] max_gain the maximal gain value.
|
|
*
|
|
*/
|
|
void srf08_set_gain(uint8_t max_gain);
|
|
|
|
|
|
/**
|
|
* @brief Get the maximal range.
|
|
*
|
|
*
|
|
* @return the maximal range value.
|
|
*/
|
|
uint8_t srf08_get_range(void);
|
|
|
|
|
|
/**
|
|
* @brief Get the maximal analog gain.
|
|
*
|
|
*
|
|
* @return the maximal gain value.
|
|
*/
|
|
uint8_t srf08_get_gain(void);
|
|
|
|
|
|
/**
|
|
* @brief Get all distances measured from the SRF08 ultrasonic sensor.
|
|
* The results of a ranging can be returned in inches, centimeters
|
|
* or microseconds. The SRF08 can detect up to targets.
|
|
* This function prints the distance values over the rs232
|
|
* interface
|
|
*
|
|
* @param[in] range_array a pointer to a buffer holding the ranging results.
|
|
* @param[in] ranging_mode there are three real ranging modes, which return
|
|
* the result in inches, centimeters or microseconds.
|
|
* Another set of three fake ranging modes do the same
|
|
* but without transmitting the burst.
|
|
*
|
|
* @return -1 if the write/read action from the i2c-interface is failed,
|
|
* otherwise the number of the detected targets is delivered.
|
|
*/
|
|
int32_t srf08_get_distances(uint32_t *range_array, uint8_t ranging_mode);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
/** @} */
|
|
#endif /* SRF08_ULTRASONIC_SENSOR_I2C_H_ */
|