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RIOT/tests/driver_srf08/main.c 1.78 KB
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  /*
   * Copyright (C) 2014 Hamburg University of Applied Sciences
   *
   * 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.
   */
  
  /**
   * @ingroup tests
   * @{
   *
   * @file
   * @brief       Test application for the SRF08 ultrasonic range sensor
   *
   * @author      Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
   * @author      Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
   *
   * @}
   */
  #ifndef TEST_SRF08_I2C
  #error "TEST_SRF08_I2C not defined"
  #endif
  #ifndef TEST_SRF08_SPEED
  #error "TEST_SRF08_SPEED not defined"
  #endif
  #ifndef TEST_MODE
  #error "TEST_MODE not defined"
  #endif
  #ifndef TEST_NUM_ECHOS
  #error "TEST_NUM_ECHOS not defined"
  #endif
  
  #include <stdio.h>
  
  #include "xtimer.h"
  #include "srf08.h"
  #include "periph/i2c.h"
  
   #define SLEEP       (1000 * 1000U)
  
   static srf08_t srf08_0;
  
  int main(void)
  {
      puts("SRF08 ultrasonic ranger test application\n");
      printf("Initializing SRF08 sensor at I2C_%i... ", TEST_SRF08_I2C);
  
      int res;
      uint16_t range_array[TEST_NUM_ECHOS];
  
      res = srf08_init(&srf08_0, TEST_SRF08_I2C, SRF08_DEFAULT_ADDR, TEST_SRF08_SPEED);
  
      if (res < 0) {
          printf("[Failed]");
          return 1;
      }
  
      else {
          puts("[Ok]\n");
  
          while(1) {
  
              int echo_number = srf08_get_distances(&srf08_0, range_array, TEST_NUM_ECHOS, TEST_MODE);
  
              if (echo_number > 0) {
                  for (int i = 0; i < echo_number; i++) {
                      printf("stored distance = %i cm , echo%i\n", range_array[i], i + 1);
                  }
                  puts("--------------------------------------------");
              }
  
              else {
                  puts("An error occured");
              }
              xtimer_usleep(SLEEP);
          }
      }
  }