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SRF08 driver, new handling of failed sensor initialization.
This commit is contained in:
Zakaria Kasmi
Oleg Hahm
parent
c7d35903e1
commit
e49318e856
@ -1,23 +1,16 @@
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/*
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<<<<<<< HEAD
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* lm75a-temp-sensor.h - Definitions of the LM75A temperature sensor driver.
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*
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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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=======
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* lm75a-temp-sensor.h - Definitions of the LM75A temperature sensor driver for 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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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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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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<<<<<<< HEAD
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* @brief Definitions of the LM75A temperature sensor driver.
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*
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* The connection between the LM75A and the MCU is based
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@ -28,16 +21,6 @@
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* @version $Revision: 3859 $
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*
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* @note $Id: lm75a-temp-sensor.h 3854 2013-09-2 15:35:21 kasmi $
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=======
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* @brief Definitions of the LM75A temperature sensor driver for the LPC2387 chip.
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* The connection between the LM75A and the LPC2387 chip is based on 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: lm75a-temp-sensor.h 3854 2013-06-19 12:27:01Z zkasmi $
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*/
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#ifndef LM75A_H_
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@ -48,7 +31,6 @@
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#include "i2c.h"
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/* LM75A register addresses */
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<<<<<<< HEAD
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#define LM75A_ADDR 0x48
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#define LM75A_TEMPERATURE_REG 0x0
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#define LM75A_CONFIG_REG 0x1
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@ -99,63 +81,10 @@ enum FAULT_QUEUE_VALUES {
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LM75A_TWO_FAULT = 2,
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LM75A_FOUR_FAULT = 4,
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LM75A_SIX_FAULT = 6
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=======
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#define LM75A_ADDR 0x48
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#define LM75A_TEMPERATURE_REG 0x0
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#define LM75A_CONFIG_REG 0x1
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#define LM75A_THYST_REG 0x2
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#define LM75A_OVER_TEMP_REG 0x3
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/* Define the used I2C Interface */
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//#define LM75A_I2C_INTERFACE I2C0 // P0.27 SDA0, P0.28 SCL0
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#define LM75A_I2C_INTERFACE I2C1_0 // P0.0 SDA1, P0.1 SCL1
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//#define LM75A_I2C_INTERFACE I2C1_1 // P0.19 SDA1, P0.20 SCL1
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//#define LM75A_I2C_INTERFACE I2C2 // P0.10 SDA2, P0.11 SCL2
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/* LM75A operation modes */
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enum OPERATION_MODES {
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LM75A_NORMAL_OPERATION_MODE,
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LM75A_SHUTDOWN_MODE,
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LM75A_COMPARATOR_MODE,
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LM75A_INTERRUPT_MODE
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};
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/*Common definitions for LMA75A */
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#define LM75A_BIT0 0x0
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#define LM75A_BIT1 0x1
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#define LM75A_BIT2 0x2
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#define LM75A_BIT3 0x3
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#define LM75A_BIT4 0x4
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#define LM75A_BIT5 0x5
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#define LM75A_BIT6 0x6
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#define LM75A_BIT7 0x7
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#define LM75A_BIT8 0x8
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#define LM75A_BIT9 0x9
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#define LM75A_BIT10 0xA
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#define LM75A_BIT15 0xF
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#define LM75A_MOST_SIG_BYTE_MASK 0xFF00
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#define LM75A_LEAST_SIG_BYTE_MASK 0x00FF
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#define LM75A_DATA_BITS_MASK 0x07FF
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#define LM75A_SIGN_BIT_MASK (1<<LM75A_BIT10)
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#define LM75A_LSB_MASK 0x1
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#define LM75A_EXTINT_MODE 0x1
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/* LM75A configuration register */
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#define LM75A_ACTIVE_LOW 0
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#define LM75A_ACTIVE_HIGH 1
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#define LM75A_DEFAULT_CONFIG_VALUE 0
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enum FAULT_QUEUE_VALUES {
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LM75A_ONE_FAULT = 1,
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LM75A_TWO_FAULT = 2,
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LM75A_FOUR_FAULT = 4,
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LM75A_SIX_FAULT = 6
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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};
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/* LM75A default values */
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enum DEFAULT_VALUES {
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<<<<<<< HEAD
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LM75A_DEFAULT_TOS = 80,
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LM75A_DEFAULT_THYST = 75,
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LM75A_DEFAULT_OPERATION = LM75A_NORMAL_OPERATION_MODE,
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@ -174,48 +103,21 @@ enum DEFAULT_VALUES {
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* @brief Set the over-temperature shutdown threshold (TOS).
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*
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* @param[in] tos the TOS value.
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=======
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LM75A_DEFAULT_TOS = 80,
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LM75A_DEFAULT_THYST = 75,
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LM75A_DEFAULT_OPERATION = LM75A_NORMAL_OPERATION_MODE,
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LM75A_DEFAULT_MODE = LM75A_COMPARATOR_MODE,
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LM75A_DEFAULT_POLARITY = LM75A_ACTIVE_LOW,
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LM75A_DEFAULT_FAULT_NUM = LM75A_ONE_FAULT
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};
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/*define inter-threads messages */
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#define LM75A_EXIT_MSG 0
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#define LM75A_SAMPLING_MSG 1
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#define LM75A_SLEEP_MSG 2
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#define LM75A_WEAKUP_MSG 3
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/**
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* @brief Set the over-temperature shutdown threshold (TOS).
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*
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* @param[in] tos the TOS value.
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*
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*/
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void lm75A_set_over_temperature(float_t tos);
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/**
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<<<<<<< HEAD
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* @brief Set the hysteresis temperature.
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*
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* @param[in] thsyt the hysteresis value.
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=======
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* @brief Set the hysteresis temperature.
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*
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* @param[in] thsyt the hysteresis value.
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*
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*/
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void lm75A_set_hysteresis_temperature(float_t thsyt);
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/**
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<<<<<<< HEAD
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* @brief Set various operation modes of the temperature sensor.
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* The LM75A provide four modes: normal, comparator, interrupt,
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* and the shutdown mode.
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@ -223,24 +125,13 @@ void lm75A_set_hysteresis_temperature(float_t thsyt);
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*
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* @param[in] op_mode the operation mode value: the normal, shutdown,
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* comparator, or interrupt mode.
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=======
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* @brief Set various operation modes of the temperature sensor.
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* The LM75A provide four modes: normal, comparator, interrupt, and the shutdown mode.
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* All these modes are defined in the lm75a-temp-sensor.h
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*
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* @param[in] op_mode the operation mode value: the normal, shutdown, comparator, or interrupt mode.
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*
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*/
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void lm75A_set_operation_mode(uint8_t op_mode);
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/**
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<<<<<<< HEAD
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* @brief Get the content of the configuration register.
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=======
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* @brief Get the content of the configuration register.
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*
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* @return the configuration register value.
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*
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@ -249,11 +140,7 @@ uint8_t lm75A_get_config_reg(void);
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/**
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<<<<<<< HEAD
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* @brief Get the adjusted hysteresis temperature.
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=======
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* @brief Get the adjusted hysteresis temperature.
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*
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* @return the content of the hysteresis register.
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*
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@ -262,11 +149,7 @@ float_t lm75A_get_hysteresis_temperature(void);
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/**
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<<<<<<< HEAD
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* @brief Get the adjusted over-temperature shutdown threshold (TOS).
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=======
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* @brief Get the adjusted over-temperature shutdown threshold (TOS).
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*
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* @return the content of the TOS-register.
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*
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@ -275,12 +158,8 @@ float_t lm75A_get_over_temperature(void);
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/**
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<<<<<<< HEAD
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* @brief Get the ambient temperature which is measured from the
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* LM75A sensor.
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=======
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* @brief Get the ambient temperature which is measured from the LM75A sensor.
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*
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* @return the content of the temperature register.
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*
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@ -289,22 +168,15 @@ float_t lm75A_get_ambient_temperature(void);
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/**
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<<<<<<< HEAD
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* @brief Set the LM75A sensor in the initial state.
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* The temperature sensor has the following values in this state:
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* config_register = 0; hyst_register = 75; the tos_reg = 80.
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=======
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* @brief Set the LM75A sensor in the initial state.
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* The temperature sensor has the following values in this state:
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* config_register = 0; hyst_register = 75; the tos_reg = 80.
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*
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*/
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void lm75A_reset(void);
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/**
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<<<<<<< HEAD
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* @brief Start a continuous sampling of the temperature values.
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* This function prints the values of all registers over
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* the rs232 interface.
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@ -315,20 +187,11 @@ void lm75A_reset(void);
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* subroutine is leaved. This parameter
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* is optional, the NULL-value can be
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* entered.
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=======
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* @brief Start a continuous sampling of the temperature values.
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* This function prints the values of all registers over the rs232 interface.
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*
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*@param[in] external_interr_handler pointer to an external task handler which is performed, if an external
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* interrupt is occurred and the external subroutine is leaved. This parameter
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* is optional, the NULL-value can be entered.
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*/
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void lm75A_start_sensor_sampling(void (*extern_interrupt_task)(void));
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/**
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<<<<<<< HEAD
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* @brief Register an interrupt handler for the external interrupt.
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* Only the port0 and port2 are supported.
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*
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@ -385,54 +248,6 @@ bool lm75A_external_interrupt_register(void *handler);
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* @brief Alarm the sensor sampling task about an external interrupt.
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*
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* @param[in] b is true if an external interrupt is occurred, otherwise false.
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=======
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* @brief Register an interrupt handler for the external interrupt.
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* Only the port0 and port2 are supported.
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*
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* @param[in] port port number.
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* @param[in] pin_bit_mask pin number in form of a bit mask: Pin0 --> BIT0, Pin1 --> BIT1, Pin2 --> BIT2 = 2^2 = 4
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* @param[in] flags define if the interrupt is generated on rising or falling edge (#GPIOINT_RISING_EDGE,
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* #GPIOINT_FALLING_EDGE).
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* @param[in] handler pointer to an interrupt handler.
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*
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* @return true if the the external interrupt handler is successfully registered, otherwise false.
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*/
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bool lm75A_ext_irq_handler_register(int32_t port, uint32_t pin_bit_mask,
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int32_t flags, void* handler);
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/**
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* @brief Initialize the LM75A temperature sensor.
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* The baud rate and the handler for the external interrupt can be initialized. The external interrupt
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* handler is optional, if no handler is available, the NULL-value can be entered. The hysteresis and
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* the over-temperature are displayed before and after a rest action is performed. After this the LM7A
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* sensor is set in the interrupt or the comparator mode.
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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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* @param[in] external_interr_handler pointer to a handler for the external interrupt.
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*
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* @return true if the I2C interface and the external interrupt handler are successfully initialized, otherwise false.
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*/
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bool lm75A_init(uint8_t i2c_interface, uint32_t baud_rate,
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void* external_interr_handler);
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/**
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* @brief Register the external interrupt handler for the over-temperature shutdown output.
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*
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* @param[in] handler pointer to a handler for the external interrupts.
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*
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* @return true if the the external interrupt handler is successfully registered, otherwise false.
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*/
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bool lm75A_external_interrupt_register(void* handler);
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/**
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* @brief Alarm the sensor sampling task about an external interrupt.
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*
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* @param[in] b is true if an external interrupt is occurred, otherwise false.
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>>>>>>> 5953946... Driver for the LM75A Digital temperature sensor and thermal watchdog
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*
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*/
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void lm75A_set_in_alarm(bool b);
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@ -92,6 +92,6 @@ uint32_t srf02_get_distance(uint8_t ranging_mode);
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* but without transmitting the burst.
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*
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*/
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void srf02_start_ranging(void);
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void srf02_start_ranging(uint16_t ranging_mode);
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#endif /* SRF02_ULTRASONIC_SENSOR_I2C_H_ */
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@ -20,7 +20,7 @@
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* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
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* @version $Revision: 3855 $
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*
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* @note $Id: lm75a-temp-sensor.c 3854 2013-09-04 13:56:37 kasmi $
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* @note $Id: lm75a-temp-sensor.c 3855 2013-09-05 13:53:49 kasmi $
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*/
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#include <stdlib.h>
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@ -69,7 +69,6 @@ static uint16_t to_uint16(uint8_t *buff)
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//Read: Sensor --> MC
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volatile static float_t to_float(uint8_t reg_addr, uint16_t reg_value)
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{
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uint16_t sign = reg_value & LM75A_SIGN_BIT_MASK;
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float_t f_temp = 0.0;
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float_t factor = 0.0;
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@ -90,9 +89,7 @@ volatile static float_t to_float(uint8_t reg_addr, uint16_t reg_value)
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}
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else { //the number is positive
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f_temp = reg_value * factor;
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}
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return f_temp;
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}
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@ -137,12 +134,9 @@ static uint16_t lm75A_get_register_value(uint8_t i2c_interface,
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uint8_t rx_buff[reg_size];
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i2c_clear_buffer(rx_buff, reg_size);
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if ((reg_size > 0) && (reg_size < 3)) {
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status = i2c_read(i2c_interface, LM75A_ADDR, reg_addr, rx_buff,
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reg_size);
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if (!status) { //Slave is not ready
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puts(
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"[lm75a_tempSensorI2C/lm75A_getConfigReg]: Slave is not\
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@ -209,7 +203,6 @@ void lm75A_reset(void)
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lm75A_set_hysteresis_temperature(LM75A_DEFAULT_THYST);
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set_register(LM75A_I2C_INTERFACE, LM75A_CONFIG_REG,
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LM75A_DEFAULT_CONFIG_VALUE);
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}
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void lm75A_set_operation_mode(uint8_t op_mode)
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@ -236,7 +229,6 @@ void lm75A_set_operation_mode(uint8_t op_mode)
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default:
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config_reg &= ~(1 << LM75A_BIT0);
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}
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set_register(LM75A_I2C_INTERFACE, LM75A_CONFIG_REG, config_reg);
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}
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@ -254,7 +246,6 @@ bool lm75A_init(uint8_t i2c_interface, uint32_t baud_rate,
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puts("fatal error happened in i2c_initialize()\n");
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return false;
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}
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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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@ -321,11 +312,9 @@ void lm75A_start_sensor_sampling(void (*handler)(void))
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handler();
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my_alarm = false;
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}
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hwtimer_wait(HWTIMER_TICKS(100000));
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LED_RED_TOGGLE;
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hwtimer_wait(HWTIMER_TICKS(100000));
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}
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}
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@ -18,7 +18,7 @@
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* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
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* @version $Revision: 3855 $
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*
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* @note $Id: srf02-ultrasonic-sensor.c 3857 2013-09-04 14:05:41 kasmi $
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* @note $Id: srf02-ultrasonic-sensor.c 3857 2013-09-04 17:25:41 kasmi $
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*
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*/
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@ -59,39 +59,39 @@ uint32_t srf02_get_distance(uint8_t ranging_mode)
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tx_buff[0] = ranging_mode;
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status = i2c_write(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
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SRF02_COMMAND_REG, tx_buff, reg_size);
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SRF02_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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distance = UINT32_MAX;
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return distance;
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}
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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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distance = UINT32_MAX;
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||||
return distance;
|
||||
}
|
||||
|
||||
hwtimer_wait(HWTIMER_TICKS(65000));
|
||||
status = i2c_read(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
|
||||
SRF02_RANGE_HIGH_BYTE, rx_buff, reg_size);
|
||||
if (!status) {
|
||||
puts("Read the distance from the i2c-interface is failed");
|
||||
distance = UINT32_MAX;
|
||||
return distance;
|
||||
}
|
||||
range_high_byte = rx_buff[0];
|
||||
hwtimer_wait(HWTIMER_TICKS(65000));
|
||||
status = i2c_read(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
|
||||
SRF02_RANGE_HIGH_BYTE, rx_buff, reg_size);
|
||||
|
||||
status = i2c_read(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
|
||||
SRF02_RANGE_LOW_BYTE, rx_buff, reg_size);
|
||||
range_low_byte = rx_buff[0];
|
||||
if (!status) {
|
||||
puts("Read the distance from the i2c-interface is failed");
|
||||
distance = UINT32_MAX;
|
||||
return distance;
|
||||
}
|
||||
range_high_byte = rx_buff[0];
|
||||
|
||||
distance = (range_high_byte << 8) | range_low_byte;
|
||||
//printf("%u | %u\n", range_high_byte, range_low_byte);
|
||||
return distance;
|
||||
status = i2c_read(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
|
||||
SRF02_RANGE_LOW_BYTE, rx_buff, reg_size);
|
||||
range_low_byte = rx_buff[0];
|
||||
|
||||
distance = (range_high_byte << 8) | range_low_byte;
|
||||
//printf("%u | %u\n", range_high_byte, range_low_byte);
|
||||
return distance;
|
||||
}
|
||||
|
||||
void srf02_start_ranging(uint16_t ranging_mode)
|
||||
{
|
||||
uint32_t distance = 0;
|
||||
uint32_t distance = 0;
|
||||
|
||||
while (1) {
|
||||
|
||||
distance = srf02_get_distance(ranging_mode);
|
||||
|
||||
if (distance != UINT32_MAX) {
|
||||
@ -118,7 +118,6 @@ void srf02_start_ranging(uint16_t ranging_mode)
|
||||
default:
|
||||
printf("distance = %lu cm\n", distance);
|
||||
}
|
||||
|
||||
hwtimer_wait(HWTIMER_TICKS(50000));
|
||||
}
|
||||
else {
|
||||
|
||||
@ -15,9 +15,9 @@
|
||||
*
|
||||
* @author Freie Universität Berlin, Computer Systems & Telematics
|
||||
* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
|
||||
* @version $Revision: 3854 $
|
||||
* @version $Revision: 3857 $
|
||||
*
|
||||
* @note $Id: srf08-ultrasonic-sensor.c 3857 2013-09-03 17:55:49 kasmi $
|
||||
* @note $Id: srf08-ultrasonic-sensor.c 3857 2013-09-05 14:45:13 kasmi $
|
||||
*
|
||||
*/
|
||||
|
||||
@ -32,10 +32,8 @@ bool srf08_init(uint8_t i2c_interface, uint32_t baud_rate)
|
||||
{
|
||||
if (i2c_initialize(i2c_interface, (uint32_t) I2CMASTER, 0, baud_rate, NULL)
|
||||
== false) { /* initialize I2C */
|
||||
puts("fatal error!happened in i2cInitialize() \n");
|
||||
|
||||
while (1)
|
||||
; /* Fatal error */
|
||||
puts("fatal error happened in i2c_initialize()\n");
|
||||
return false;
|
||||
}
|
||||
else {
|
||||
i2c_enable_pull_up_resistor(i2c_interface);
|
||||
@ -47,6 +45,7 @@ bool srf08_init(uint8_t i2c_interface, uint32_t baud_rate)
|
||||
void srf08_set_range(uint8_t max_range)
|
||||
{
|
||||
uint8_t tx_buff[1];
|
||||
|
||||
tx_buff[0] = max_range;
|
||||
i2c_write(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_RANGE_REG, tx_buff,
|
||||
1);
|
||||
@ -55,6 +54,7 @@ void srf08_set_range(uint8_t max_range)
|
||||
void srf08_set_gain(uint8_t gain)
|
||||
{
|
||||
uint8_t tx_buff[1];
|
||||
|
||||
tx_buff[0] = gain;
|
||||
i2c_write(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_GAIN_REG, tx_buff,
|
||||
1);
|
||||
@ -63,18 +63,18 @@ void srf08_set_gain(uint8_t gain)
|
||||
uint8_t srf08_get_range(void)
|
||||
{
|
||||
uint8_t rx_buff[1];
|
||||
|
||||
i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_RANGE_REG, rx_buff,
|
||||
1);
|
||||
|
||||
return rx_buff[0];
|
||||
}
|
||||
|
||||
uint8_t srf08_get_gain(void)
|
||||
{
|
||||
uint8_t rx_buff[1];
|
||||
|
||||
i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_GAIN_REG, rx_buff,
|
||||
1);
|
||||
|
||||
return rx_buff[0];
|
||||
}
|
||||
|
||||
@ -90,48 +90,37 @@ int32_t srf08_get_distances(uint32_t *range_array, uint8_t ranging_mode)
|
||||
uint8_t tx_buff[reg_size];
|
||||
uint8_t register_location;
|
||||
uint8_t echo_number = 0;
|
||||
uint8_t echo_number = 0;
|
||||
|
||||
tx_buff[0] = ranging_mode;
|
||||
status = i2c_write(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR,
|
||||
SRF08_COMMAND_REG, tx_buff, reg_size);
|
||||
|
||||
if (!status) {
|
||||
puts("Write the ranging command to the i2c-interface is failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
hwtimer_wait(HWTIMER_TICKS(70000));
|
||||
|
||||
// Read all echo buffers
|
||||
for (register_location = 2; register_location < SRF08_MAX_REGISTER_NUMBER;
|
||||
register_location += 2) {
|
||||
|
||||
//read the high echo byte
|
||||
status = i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR,
|
||||
register_location, rx_buff, reg_size);
|
||||
echo_number++;
|
||||
|
||||
if (!status) {
|
||||
puts("Read the the high echo byte from the i2c-interface is \
|
||||
failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
range_high_byte = rx_buff[0];
|
||||
|
||||
//read the low echo byte
|
||||
status = i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR,
|
||||
register_location + 1, rx_buff, reg_size);
|
||||
|
||||
if (!status) {
|
||||
puts("Read the the low echo byte from the i2c-interface \
|
||||
is failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
range_low_byte = rx_buff[0];
|
||||
|
||||
if ((range_high_byte == 0) && (range_low_byte == 0)) {
|
||||
break;
|
||||
}
|
||||
@ -139,14 +128,11 @@ int32_t srf08_get_distances(uint32_t *range_array, uint8_t ranging_mode)
|
||||
distance = (range_high_byte << 8) | range_low_byte;
|
||||
range_array[(register_location - 2) / 2] = distance;
|
||||
echo_number++;
|
||||
|
||||
printf("distance = %4lu cm , echo%d\n",
|
||||
distance, register_location / 2);
|
||||
}
|
||||
|
||||
hwtimer_wait(HWTIMER_TICKS(500000));
|
||||
}
|
||||
|
||||
puts("--------------------------------------------");
|
||||
return echo_number;
|
||||
}
|
||||
@ -156,8 +142,8 @@ void srf08_start_ranging(uint8_t ranging_mode)
|
||||
uint32_t range_array[SRF08_MAX_ECHO_NUMBER];
|
||||
uint8_t i;
|
||||
uint8_t echo_number;
|
||||
puts("Ultrasonic SRF08 engine is started");
|
||||
|
||||
puts("Ultrasonic SRF08 engine is started");
|
||||
//wait due to calibration
|
||||
hwtimer_wait(HWTIMER_TICKS(700000));
|
||||
printf("Actual range = %d\n", srf08_get_range());
|
||||
@ -166,7 +152,6 @@ void srf08_start_ranging(uint8_t ranging_mode)
|
||||
while (1) {
|
||||
puts("--------------------------------------------");
|
||||
echo_number = srf08_get_distances(range_array, ranging_mode);
|
||||
|
||||
if (echo_number > 0) {
|
||||
for (i = 0; i < echo_number; i++) {
|
||||
printf("stored distance = %4lu cm , echo%d\n", range_array[i], i + 1);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user