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/*
* 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 drivers_srf08 SRF08 ultrasonic range sensor
* @ingroup drivers_sensors
* @brief Driver for the SRF08 ultrasonic range sensor
*
* The connection between the MCU and the SRF08 is based on the i2c-interface.
*
* @{
*
* @file
* @brief Driver definitions for the SRF02 ultrasonic ranger.
*
* The connection between the SRF08 and the MCU is based on the i2c interface.
*
* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
*/
#ifndef SRF08_H
#define SRF08_H
#include <stdint.h>
#include "periph/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 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 Maximum range the sensor can measure (6m) */
#define SRF08_MAX_RANGE_6M 0x8C
/** @brief Maximum gain of the sensor (1025)*/
#define SRF08_MAX_GAIN 0x25
/**
* @brief Device descriptor for SRF08 sensors
*/
typedef struct {
i2c_t i2c; /**< I2C device the sensor is connected to */
uint8_t addr; /**< I2C bus address of the sensor */
} srf08_t;
/**
* @brief Possible measurement modes for the SRF08 sensor
*/
typedef enum {
SRF08_MODE_INCH = 0x50, /**< result in inches */
SRF08_MODE_CM = 0x51, /**< result in centimeters */
SRF08_MODE_MICRO_SEC = 0x52, /**< result in centimeters */
SRF08_ANN_MODE_INCH = 0x53, /**< synchronous measurement in inches */
SRF08_ANN_MODE_CM = 0x54, /**< synchronous measurement in centimeters */
SRF08_ANN_MODE_MICRO_SEC = 0x55 /**< synchronous measurement in microseconds */
}srf08_mode_t;
/**
* @brief Initialize the SRF08 ultrasonic sensor
*
* @param[in] dev device descriptor of an SRF08 sensor
* @param[in] i2c I2C device the sensor is connected to
* @param[in] addr I2C address of the sensor
* @param[in] speed I2C speed mode
*
* @return 0 on successful initialization
* @return -1 on undefined device given
* @return -2 on unsupported speed value
* @return -3 on max. range error
* @return -4 on max. gain error
*
*/
int srf08_init(srf08_t *dev, i2c_t i2c, uint8_t addr, i2c_speed_t speed);
/**
* @brief Set the maximum range of the SRF08.
*
* @param[in] dev device descriptor of an SRF08 sensor
* @param[in] max_range the adjusted maximal range is:
* max_range = (max_range x 43mm) + 43mm.
* The hardware limit is 6m.
*
* @return 1 on success
* @return -1 on undefined device given
*
*/
int srf08_set_max_range(const srf08_t *dev, uint8_t max_range);
/**
* @brief Set the maximum of the analog stages.
*
* @ note
* This value is just a limitation of the maximum amplification and not the actual.
* While measuing, this value starts at its minimum and increases approx. each 75 us
* until the maximum value is reached.
*
* @param[in] dev device descriptor of an SRF08 sensor
* @param[in] max_gain the maximal gain value.
*
* @return 1 on success
* @return -1 on undefined device given
*
*/
int srf08_set_max_gain(const srf08_t *dev, uint8_t max_gain);
/**
* @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 17 targets.
*
*
* @param[in] dev device descriptor of an SRF08 sensor
* @param[in] range_array a pointer to a buffer holding the ranging results.
* @param[in] num_echos number of stored measurements (echos)
* @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 number of measured echos on success
* @return -1 on ranging mode errors
* @return -2 if num_echos exceeds the max. number of
possible measurements
* @return -3 if i2c read high byte failed
* @return -4 if i2c read low byte failed
*
*/
int srf08_get_distances(const srf08_t *dev,
uint16_t *range_array,
int num_echos,
srf08_mode_t ranging_mode);
#ifdef __cplusplus
}
#endif
/** @} */
#endif /* SRF08_H */
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