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Driver for the SRF08 Ultrasonic Ranger
This commit is contained in:
Zakaria Kasmi
Oleg Hahm
parent
7084bcad22
commit
2c3fce7212
@ -29,6 +29,9 @@ endif
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ifneq (,$(findstring srf02,$(USEMODULE)))
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DIRS += srf02
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endif
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ifneq (,$(findstring srf08,$(USEMODULE)))
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DIRS += srf08
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endif
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all:
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@for i in $(DIRS) ; do "$(MAKE)" -C $$i ; done ;
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101
drivers/include/srf08-ultrasonic-sensor.h
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101
drivers/include/srf08-ultrasonic-sensor.h
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@ -0,0 +1,101 @@
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/*
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* sarf08-ultrasonic-sensor.h - Definitions for the SRF02 ultrasonic ranger using the LPC2387 chip.
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* Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
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*
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* This source code is licensed under the LGPLv2 license,
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* See the file LICENSE for more details.
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*/
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/**
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* @file
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* @internal
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* @brief Driver definitions for the SRF08 ultrasonic ranger using the LPC2387 chip. The communication
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* between the LPC23 chip and SRF08 is via the i2c interface
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*
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* @author Freie Universität Berlin, Computer Systems & Telematics
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* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
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* @version $Revision: 3854 $
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*
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* @note $Id: sarf08-ultrasonic-sensor.h 3854 2013-06-21 12:30:01Z zkasmi $
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*
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*/
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#ifndef SRF08_ULTRASONIC_SENSOR_I2C_H_
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#define SRF08_ULTRASONIC_SENSOR_I2C_H_
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/* define the SRF02 registers*/
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#define SRF08_DEFAULT_ADDR 112
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#define SRF08_COMMAND_REG 0x0
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#define SRF08_RANGE_HIGH_BYTE 0x2
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#define SRF08_RANGE_LOW_BYTE 0x3
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#define SRF08_REAL_RANGING_MODE_CM 0x51
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#define SRF08_RANGE_REG 0x2
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#define SRF08_GAIN_REG 0x1
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#define MAX_REGISTER_NUMBER 35
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/* Define the used I2C Interface */
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//#define I2C_INTERFACE I2C0 // P0.27 SDA0, P0.28 SCL0
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//#define I2C_INTERFACE I2C1_0 // P0.0 SDA1, P0.1 SCL1
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//#define I2C_INTERFACE I2C1_1 // P0.19 SDA1, P0.20 SCL1
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#define SRF08_I2C_INTERFACE I2C2 // P0.10 SDA2, P0.11 SCL2
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/**
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* @brief Initialize the SRF08 ultrasonic sensor.
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*
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* @param[in] i2c_interface the i2c interface, several interfaces can be selected: i2c0, i2c1 and i2c2.
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* @param[in] baud_rate the baud rate.
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*
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*@return true if the SRF08 is successfully initialized, otherwise false.
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*
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*/
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bool srf08_init(uint8_t i2c_interface, uint32_t baud_rate);
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/**
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* @brief Start a continuous distance ranging with the SRF08 ultrasonic range-finder.
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* The ranging results are given in centimeters over the RS232-Interface.
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*
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*/
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void srf08_start_ranging(void);
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/**
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* @brief Set the maximum range of the SRF08.
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*
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* @param[in] max_range the adjusted maximal range is: max_range = (max_rangex43mm) + 43mm.
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*
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*/
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void srf08_set_range(uint8_t max_range);
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/**
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* @brief Set the maximum of the analog stages.
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*
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* @param[in] max_gain the maximal gain value.
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*
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*/
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void srf08_set_gain(uint8_t max_gain);
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/**
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* @brief Get the maximal range.
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*
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*
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* @return the maximal range value.
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*/
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uint8_t srf08_get_range(void);
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/**
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* @brief Get the maximal analog gain.
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*
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*
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* @return the maximal gain value.
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*/
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uint8_t srf08_get_gain(void);
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#endif /* SRF08_ULTRASONIC_SENSOR_I2C_H_ */
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5
drivers/srf08/Makefile
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5
drivers/srf08/Makefile
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@ -0,0 +1,5 @@
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INCLUDES = -I$(RIOTBASE)/core/include -I../include/ -I$(RIOTBASE)/sys/include
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MODULE =srf08
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include $(MAKEBASE)/Makefile.base
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141
drivers/srf08/srf08-ultrasonic-sensor.c
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141
drivers/srf08/srf08-ultrasonic-sensor.c
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@ -0,0 +1,141 @@
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/*
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* srf08-ultrasonic-sensor.c - Driver for the SRF08 ultrasonic ranger and the LPC2387 chip via the i2c interface.
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* Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
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*
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* This source code is licensed under the LGPLv2 license,
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* See the file LICENSE for more details.
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*/
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/**
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* @file
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* @internal
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* @brief Driver for the SRF08 ultrasonic ranger and the LPC2387 chip using the i2c interface.
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*
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* @author Freie Universität Berlin, Computer Systems & Telematics
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* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
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* @version $Revision: 3854 $
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*
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* @note $Id: srf08-ultrasonic-sensor.c 3854 2013-06-21 15:30:01Z zkasmi $
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*
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.h>
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#include "hwtimer.h"
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#include "srf08-ultrasonic-sensor.h"
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#include "i2c.h"
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bool srf08_init(uint8_t i2c_interface, uint32_t baud_rate) {
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if (i2c_initialize(i2c_interface, (uint32_t) I2CMASTER, 0, baud_rate, NULL)
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== false) /* initialize I2C */
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{
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puts("fatal error! happened in i2cInitialize() \n");
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while (1)
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; /* Fatal error */
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} else {
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i2c_enable_pull_up_resistor(i2c_interface);
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//i2c_disable_pull_up_resistor(i2c_interface);
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return true;
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}
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}
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void srf08_set_range(uint8_t max_range) {
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uint8_t tx_buff[1];
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tx_buff[0] = max_range;
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i2c_write(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_RANGE_REG, tx_buff,
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1);
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}
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void srf08_set_gain(uint8_t gain) {
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uint8_t tx_buff[1];
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tx_buff[0] = gain;
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i2c_write(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_GAIN_REG, tx_buff,
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1);
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}
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uint8_t srf08_get_range(void) {
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uint8_t rx_buff[1];
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i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_RANGE_REG, rx_buff,
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1);
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return rx_buff[0];
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}
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uint8_t srf08_get_gain(void) {
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uint8_t rx_buff[1];
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i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_GAIN_REG, rx_buff,
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1);
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return rx_buff[0];
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}
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void srf08_start_ranging(void) {
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puts("Ultrasonic SRF08 engine is started");
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bool status = false;
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uint8_t reg_size = 1;
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uint8_t range_high_byte = 0;
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uint8_t range_low_byte = 0;
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uint32_t distance = 0;
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uint8_t rx_buff[reg_size];
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uint8_t tx_buff[reg_size];
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tx_buff[0] = SRF08_REAL_RANGING_MODE_CM;
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uint8_t register_location;
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//wait due to calibration
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hwtimer_wait(HWTIMER_TICKS(700000));
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printf("Actual range = %d\n", srf08_get_range());
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printf("Actual gain = %d\n", srf08_get_gain());
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while (1) {
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status = i2c_write(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR,
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SRF08_COMMAND_REG, tx_buff, reg_size);
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if (!status) {
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puts("Write the ranging command to the i2c-interface is failed");
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break;
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}
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hwtimer_wait(HWTIMER_TICKS(70000));
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// Read all echo buffers
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for (register_location = 2; register_location < MAX_REGISTER_NUMBER;
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register_location += 2) {
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//read the high echo byte
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status = i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR,
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register_location, rx_buff, reg_size);
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if (!status) {
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puts(
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"Read the the high echo byte from the i2c-interface is failed");
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break;
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}
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range_high_byte = rx_buff[0];
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//read the low echo byte
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status = i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR,
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register_location + 1, rx_buff, reg_size);
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if (!status) {
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puts(
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"Read the the low echo byte from the i2c-interface is failed");
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break;
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}
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range_low_byte = rx_buff[0];
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if ((range_high_byte == 0) && (range_low_byte == 0)) {
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break;
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} else {
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distance = (range_high_byte << 8) | range_low_byte;
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printf("distance = %lu cm , echo%d\n", distance, register_location/2);
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}
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hwtimer_wait(HWTIMER_TICKS(500000));
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}
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}
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}
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