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drivers/srf02: Update to new i2c API

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This commit is contained in:
MrKevinWeiss 2018-06-27 09:24:39 +02:00 committed by dylad
parent 89bd96e1b0
commit d0f86d0611
3 changed files with 57 additions and 27 deletions
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11
drivers/include/srf02.h
View File

@ -19,6 +19,7 @@
* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Kevin Weiss <kevin.weiss@haw-hamburg.de>
*/
#ifndef SRF02_H
@ -87,8 +88,11 @@ int srf02_init(srf02_t *dev, i2c_t i2c, uint8_t addr);
* the result in inches, centimeters or microseconds.
* Another set of three fake ranging modes do the same
* but without transmitting the burst
*
* @return 0 On success, otherwise i2c_write error
*
*/
void srf02_trigger(const srf02_t *dev, srf02_mode_t mode);
int srf02_trigger(const srf02_t *dev, srf02_mode_t mode);
/**
* @brief Read the results of the last ranging operation
@ -122,8 +126,11 @@ uint16_t srf02_get_distance(const srf02_t *dev, srf02_mode_t mode);
*
* @param[in] dev device to program
* @param[in] new_addr new address to program the given device to
*
* @return 0 On success, otherwise i2c_write error
*
*/
void srf02_set_addr(srf02_t *dev, uint8_t new_addr);
int srf02_set_addr(srf02_t *dev, uint8_t new_addr);
#ifdef __cplusplus
}

55
drivers/srf02/srf02.c
View File

@ -17,6 +17,7 @@
* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Kevin Weiss <kevin.weiss@haw-hamburg.de>
*
* @}
*/
@ -31,11 +32,6 @@
#define ENABLE_DEBUG (0)
#include "debug.h"
/**
* @brief Per default use normal speed on the I2C bus
*/
#define BUS_SPEED (I2C_SPEED_NORMAL)
/**
* @brief SRF02 register addresses
* @{
@ -61,17 +57,13 @@ int srf02_init(srf02_t *dev, i2c_t i2c, uint8_t addr)
{
dev->i2c = i2c;
dev->addr = (addr >> 1); /* internally we right align the 7-bit addr */
uint8_t rev;
uint8_t rev = 0;
/* Acquire exclusive access to the bus. */
i2c_acquire(dev->i2c);
/* initialize i2c interface */
if (i2c_init_master(dev->i2c, BUS_SPEED) < 0) {
DEBUG("[srf02] error initializing I2C bus\n");
return -1;
}
/* try to read the software revision (read the CMD reg) from the device */
i2c_read_reg(i2c, dev->addr, REG_CMD, &rev);
i2c_read_reg(i2c, dev->addr, REG_CMD, &rev, 0);
if (rev == 0 || rev == 255) {
i2c_release(dev->i2c);
DEBUG("[srf02] error reading the devices software revision\n");
@ -86,22 +78,24 @@ int srf02_init(srf02_t *dev, i2c_t i2c, uint8_t addr)
return 0;
}
void srf02_trigger(const srf02_t *dev, srf02_mode_t mode)
int srf02_trigger(const srf02_t *dev, srf02_mode_t mode)
{
int status;
/* trigger a new measurement by writing the mode to the CMD register */
DEBUG("[srf02] trigger new reading\n");
i2c_acquire(dev->i2c);
i2c_write_reg(dev->i2c, dev->addr, REG_CMD, mode);
status = i2c_write_reg(dev->i2c, dev->addr, REG_CMD, mode, 0);
i2c_release(dev->i2c);
return status;
}
uint16_t srf02_read(const srf02_t *dev)
{
uint8_t res[2];
uint8_t res[2] = {0xFF, 0xFF};
/* read the results */
i2c_acquire(dev->i2c);
i2c_read_regs(dev->i2c, dev->addr, REG_HIGH, res, 2);
i2c_read_regs(dev->i2c, dev->addr, REG_HIGH, res, 2, 0);
i2c_release(dev->i2c);
DEBUG("[srf02] result - high: 0x%02x low: 0x%02x\n", res[0], res[1]);
@ -119,20 +113,39 @@ uint16_t srf02_get_distance(const srf02_t *dev, srf02_mode_t mode)
return srf02_read(dev);
}
void srf02_set_addr(srf02_t *dev, uint8_t new_addr)
int srf02_set_addr(srf02_t *dev, uint8_t new_addr)
{
int status;
/* get access to the bus */
i2c_acquire(dev->i2c);
DEBUG("[srf02] reprogramming device address to 0x%02x\n", (int)new_addr);
/* write the new address, for this we need to follow a certain sequence */
i2c_write_reg(dev->i2c, dev->addr, REG_CMD, CMD_ADDR_SEQ1);
i2c_write_reg(dev->i2c, dev->addr, REG_CMD, CMD_ADDR_SEQ2);
i2c_write_reg(dev->i2c, dev->addr, REG_CMD, CMD_ADDR_SEQ3);
i2c_write_reg(dev->i2c, dev->addr, REG_CMD, new_addr);
status = i2c_write_reg(dev->i2c, dev->addr, REG_CMD, CMD_ADDR_SEQ1, 0);
if (status != 0) {
i2c_release(dev->i2c);
return status;
}
status = i2c_write_reg(dev->i2c, dev->addr, REG_CMD, CMD_ADDR_SEQ2, 0);
if (status != 0) {
i2c_release(dev->i2c);
return status;
}
status = i2c_write_reg(dev->i2c, dev->addr, REG_CMD, CMD_ADDR_SEQ3, 0);
if (status != 0) {
i2c_release(dev->i2c);
return status;
}
status = i2c_write_reg(dev->i2c, dev->addr, REG_CMD, new_addr, 0);
if (status != 0) {
i2c_release(dev->i2c);
return status;
}
dev->addr = (new_addr >> 1);
/* release the bus */
i2c_release(dev->i2c);
return status;
}

18
tests/driver_srf02/main.c
View File

@ -17,6 +17,7 @@
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Kevin Weiss <kevin.weiss@haw-hamburg.de>
*
* @}
*/
@ -44,7 +45,12 @@ static srf02_t dev;
static void sample(void)
{
uint16_t distance = srf02_get_distance(&dev, TEST_MODE);
printf("distance = %3i cm\n", distance);
if (distance != 0xFFFF) {
printf("distance = %3i cm\n", distance);
}
else {
printf("Sample failed!\n");
}
}
static int cmd_init(int argc, char **argv)
@ -104,9 +110,13 @@ static int cmd_set_addr(int argc, char **argv)
}
new_addr = atoi(argv[1]);
srf02_set_addr(&dev, new_addr);
printf("Set address to %i\n", (int)new_addr);
return 0;
if (srf02_set_addr(&dev, new_addr) == 0) {
printf("Set address to %i\n", (int)new_addr);
return 0;
}
printf("Set address failed\n");
return 1;
}
static const shell_command_t shell_commands[] = {