mirror of
https://github.com/RIOT-OS/RIOT.git
synced 2024-12-29 04:50:03 +01:00
Initial import of the updated srf02 driver with general i2c interface
This commit is contained in:
PeterKietzmann
parent
eff4f30640
commit
f207b114e4
@ -1,106 +0,0 @@
|
|||||||
/*
|
|
||||||
* 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 srf02 SRF02
|
|
||||||
* @ingroup drivers
|
|
||||||
* @brief Driver for the SRF02 ultrasonic range sensor
|
|
||||||
*
|
|
||||||
* The connection between the MCU and the SRF08 is based on the i2c-interface.
|
|
||||||
*
|
|
||||||
* @{
|
|
||||||
*
|
|
||||||
* @file srf02-ultrasonic-sensor.h
|
|
||||||
* @brief Driver definitions for the SRF02 ultrasonic ranger.
|
|
||||||
*
|
|
||||||
* The connection between the SRF02 and the MCU is based on the i2c interface.
|
|
||||||
*
|
|
||||||
* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef SRF02_ULTRASONIC_SENSOR_I2C_H_
|
|
||||||
#define SRF02_ULTRASONIC_SENSOR_I2C_H_
|
|
||||||
#include "i2c.h"
|
|
||||||
|
|
||||||
#ifdef __cplusplus
|
|
||||||
extern "C" {
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/* define the SRF02 registers*/
|
|
||||||
#define SRF02_DEFAULT_ADDR 112
|
|
||||||
#define SRF02_COMMAND_REG 0x0
|
|
||||||
#define SRF02_RANGE_HIGH_BYTE 0x2
|
|
||||||
#define SRF02_RANGE_LOW_BYTE 0x3
|
|
||||||
#define SRF02_REAL_RANGING_MODE_INCH 0x50
|
|
||||||
#define SRF02_REAL_RANGING_MODE_CM 0x51
|
|
||||||
#define SRF02_REAL_RANGING_MODE_MICRO_SEC 0x52
|
|
||||||
#define SRF02_FAKE_RANGING_MODE_INCH 0x56
|
|
||||||
#define SRF02_FAKE_RANGING_MODE_CM 0x57
|
|
||||||
#define SRF02_FAKE_RANGING_MODE_MICRO_SEC 0x58
|
|
||||||
|
|
||||||
|
|
||||||
/* Define the used I2C Interface */
|
|
||||||
//#define SRF02_I2C_INTERFACE I2C0 // P0.27 SDA0, P0.28 SCL0
|
|
||||||
//#define SRF02_I2C_INTERFACE I2C1_0 // P0.0 SDA1, P0.1 SCL1
|
|
||||||
//#define SRF02_I2C_INTERFACE I2C1_1 // P0.19 SDA1, P0.20 SCL1
|
|
||||||
#define SRF02_I2C_INTERFACE I2C2 // P0.10 SDA2, P0.11 SCL2
|
|
||||||
#define SRF02_EXIT_MSG 0
|
|
||||||
#define SRF02_RANGING_MSG 1
|
|
||||||
#define SRF02_SLEEP_MSG 2
|
|
||||||
#define SRF02_WEAKUP_MSG 3
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Initialize the SRF02 ultrasonic sensor.
|
|
||||||
*
|
|
||||||
* @param[in] i2c_interface the i2c interface, several interfaces can be
|
|
||||||
* selected: i2c0, i2c1 and i2c2.
|
|
||||||
* @param[in] baud_rate the baud rate.
|
|
||||||
*
|
|
||||||
* @return true if the SRF02 is successfully initialized, otherwise false.
|
|
||||||
*/
|
|
||||||
bool srf02_init(uint8_t i2c_interface, uint32_t baud_rate);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Get the distance measured from the SRF02 ultrasonic sensor.
|
|
||||||
* The result of a ranging can be returned in inches,
|
|
||||||
* centimeters or microseconds
|
|
||||||
*
|
|
||||||
* @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 the ranging result in inches, centimeters or microseconds. In the
|
|
||||||
* case of the fake ranging mode a zero value is returned. UINT32_MAX
|
|
||||||
* is returned if write/read action from the i2c-interface is failed.
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
uint32_t srf02_get_distance(uint8_t ranging_mode);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Start a continuous sampling of the distance measures.
|
|
||||||
* This function prints the distance values over the rs232
|
|
||||||
* interface.
|
|
||||||
*
|
|
||||||
* @param[i] 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.
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
void srf02_start_ranging(uint16_t ranging_mode);
|
|
||||||
|
|
||||||
#ifdef __cplusplus
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/** @} */
|
|
||||||
#endif /* SRF02_ULTRASONIC_SENSOR_I2C_H_ */
|
|
||||||
101
drivers/include/srf02.h
Normal file
101
drivers/include/srf02.h
Normal file
@ -0,0 +1,101 @@
|
|||||||
|
/*
|
||||||
|
* 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.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @defgroup driver_srf02 SRF02 ultrasonic range sensor
|
||||||
|
* @ingroup drivers
|
||||||
|
* @brief Driver for the SRF02 ultrasonic range sensor
|
||||||
|
*
|
||||||
|
* The connection between the MCU and the SRF02 is based on the i2c-interface.
|
||||||
|
*
|
||||||
|
* @{
|
||||||
|
*
|
||||||
|
* @file srf02.h
|
||||||
|
* @brief Driver definitions for the SRF02 ultrasonic ranger.
|
||||||
|
*
|
||||||
|
* The connection between the SRF02 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 SRF02_H_
|
||||||
|
#define SRF02_H_
|
||||||
|
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include "periph/i2c.h"
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* define the SRF02 registers*/
|
||||||
|
#define SRF02_DEFAULT_ADDR 112
|
||||||
|
#define SRF02_COMMAND_REG 0x0
|
||||||
|
#define SRF02_RANGE_HIGH_BYTE 0x2
|
||||||
|
#define SRF02_RANGE_LOW_BYTE 0x3
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Device descriptor for SRF02 sensors
|
||||||
|
*/
|
||||||
|
typedef struct {
|
||||||
|
i2c_t i2c;
|
||||||
|
uint8_t addr;
|
||||||
|
} srf02_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Possible measurement modes for the SRF02 sensor
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
SRF02_MODE_REAL_INCH = 0x50,
|
||||||
|
SRF02_MODE_REAL_CM = 0x51,
|
||||||
|
SRF02_REAL_RANGING_MODE_MICRO_SEC = 0x52,
|
||||||
|
SRF02_FAKE_RANGING_MODE_INCH = 0x56,
|
||||||
|
SRF02_FAKE_RANGING_MODE_CM = 0x57,
|
||||||
|
SRF02_FAKE_RANGING_MODE_MICRO_SEC = 0x58
|
||||||
|
}srf02_mode_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Initialize the SRF02 ultrasonic sensor
|
||||||
|
*
|
||||||
|
* @param[in] dev device descriptor of an SRF02 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
|
||||||
|
*/
|
||||||
|
int srf02_init(srf02_t *dev, i2c_t i2c, uint8_t addr, i2c_speed_t speed);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Get the distance measured from the SRF02 ultrasonic sensor
|
||||||
|
* The result of a ranging can be returned in inches,
|
||||||
|
* centimeters or microseconds
|
||||||
|
* @param[in] dev device descriptor of an SRF02 sensor
|
||||||
|
* @param[in] 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 -1 on undefined device given
|
||||||
|
* @return the ranging result in inches, centimeters or microseconds. In the
|
||||||
|
* case of the fake ranging mode a zero value is returned. UINT16_MAX
|
||||||
|
* is returned if write/read action from the i2c-interface is failed.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
uint16_t srf02_get_distance(srf02_t *dev, srf02_mode_t mode);
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/** @} */
|
||||||
|
#endif /* SRF02_H_ */
|
||||||
@ -1 +1,3 @@
|
|||||||
|
MODULE = srf02
|
||||||
|
|
||||||
include $(RIOTBASE)/Makefile.base
|
include $(RIOTBASE)/Makefile.base
|
||||||
|
|||||||
@ -1,138 +0,0 @@
|
|||||||
/*
|
|
||||||
* srf02-ultrasonic-sensor.c - Driver for the SRF02 ultrasonic.
|
|
||||||
*
|
|
||||||
* 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.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @file
|
|
||||||
* @internal
|
|
||||||
* @brief Driver for the SRF02 ultrasonic ranger.
|
|
||||||
* The connection between the MCU and the SRF08 is based on the
|
|
||||||
* i2c-interface.
|
|
||||||
*
|
|
||||||
* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
|
|
||||||
* @version $Revision: 3856 $
|
|
||||||
*
|
|
||||||
* @note $Id: srf02-ultrasonic-sensor.c 3857 2013-09-24 17:39:33 kasmi $
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <stdbool.h>
|
|
||||||
#include <stdint.h>
|
|
||||||
#include <stdio.h>
|
|
||||||
#include "msg.h"
|
|
||||||
#include "vtimer.h"
|
|
||||||
#include "timex.h"
|
|
||||||
#include "thread.h"
|
|
||||||
#include "hwtimer.h"
|
|
||||||
#include "srf02-ultrasonic-sensor.h"
|
|
||||||
#include "i2c.h"
|
|
||||||
|
|
||||||
bool srf02_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 i2c_initialize()\n");
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
i2c_enable_pull_up_resistor(i2c_interface);
|
|
||||||
//i2c_disable_pull_up_resistor(i2c_interface);
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
uint32_t srf02_get_distance(uint8_t ranging_mode)
|
|
||||||
{
|
|
||||||
bool status;
|
|
||||||
uint8_t reg_size = 1;
|
|
||||||
uint8_t range_high_byte = 0;
|
|
||||||
uint8_t range_low_byte = 0;
|
|
||||||
uint8_t rx_buff[reg_size];
|
|
||||||
uint8_t tx_buff[reg_size];
|
|
||||||
uint32_t distance = 0;
|
|
||||||
|
|
||||||
tx_buff[0] = ranging_mode;
|
|
||||||
status = i2c_write(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
|
|
||||||
SRF02_COMMAND_REG, tx_buff, reg_size);
|
|
||||||
|
|
||||||
if (!status) {
|
|
||||||
puts("Write the ranging command to the i2c-interface is failed");
|
|
||||||
distance = UINT32_MAX;
|
|
||||||
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 high echo byte from the i2c-interface is failed");
|
|
||||||
distance = UINT32_MAX;
|
|
||||||
return distance;
|
|
||||||
}
|
|
||||||
|
|
||||||
range_high_byte = rx_buff[0];
|
|
||||||
|
|
||||||
status = i2c_read(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
|
|
||||||
SRF02_RANGE_LOW_BYTE, rx_buff, reg_size);
|
|
||||||
|
|
||||||
if (!status) {
|
|
||||||
puts("Read the low echo byte from the i2c-interface is failed");
|
|
||||||
distance = UINT32_MAX;
|
|
||||||
return distance;
|
|
||||||
}
|
|
||||||
|
|
||||||
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)
|
|
||||||
{
|
|
||||||
|
|
||||||
while (1) {
|
|
||||||
uint32_t distance = srf02_get_distance(ranging_mode);
|
|
||||||
|
|
||||||
if (distance != UINT32_MAX) {
|
|
||||||
switch (ranging_mode) {
|
|
||||||
case SRF02_REAL_RANGING_MODE_CM :
|
|
||||||
printf("distance = %lu cm\n", distance);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SRF02_REAL_RANGING_MODE_INCH :
|
|
||||||
printf("distance = %lu inch\n", distance);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SRF02_REAL_RANGING_MODE_MICRO_SEC:
|
|
||||||
// dist_m = 0.000172 distance_micro_sec (air)
|
|
||||||
printf("distance = %lu micro_sec\n", distance);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case SRF02_FAKE_RANGING_MODE_CM:
|
|
||||||
case SRF02_FAKE_RANGING_MODE_INCH:
|
|
||||||
case SRF02_FAKE_RANGING_MODE_MICRO_SEC:
|
|
||||||
printf("distance fake ranging = %lu \n", distance);
|
|
||||||
break;
|
|
||||||
|
|
||||||
default:
|
|
||||||
printf("distance = %lu cm\n", distance);
|
|
||||||
}
|
|
||||||
|
|
||||||
hwtimer_wait(HWTIMER_TICKS(50000));
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
puts("The SRF02 range sampling is ended!!");
|
|
||||||
}
|
|
||||||
87
drivers/srf02/srf02.c
Normal file
87
drivers/srf02/srf02.c
Normal file
@ -0,0 +1,87 @@
|
|||||||
|
/*
|
||||||
|
* 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 driver_srf02
|
||||||
|
* @{
|
||||||
|
*
|
||||||
|
* @file srf02.c
|
||||||
|
* @brief Driver for the SRF02 ultrasonic ranger.
|
||||||
|
* The connection between the MCU and the SRF02 is based on the
|
||||||
|
* i2c-interface.
|
||||||
|
*
|
||||||
|
* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
|
||||||
|
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
|
||||||
|
*
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "msg.h"
|
||||||
|
#include "vtimer.h"
|
||||||
|
#include "timex.h"
|
||||||
|
#include "thread.h"
|
||||||
|
#include "hwtimer.h"
|
||||||
|
#include "srf02.h"
|
||||||
|
#include "periph/i2c.h"
|
||||||
|
|
||||||
|
#define ENABLE_DEBUG (0)
|
||||||
|
#include "debug.h"
|
||||||
|
|
||||||
|
|
||||||
|
int srf02_init(srf02_t *dev, i2c_t i2c, uint8_t addr, i2c_speed_t speed)
|
||||||
|
{
|
||||||
|
dev->i2c = i2c;
|
||||||
|
dev->addr = addr;
|
||||||
|
|
||||||
|
/* initialize i2c interface */
|
||||||
|
return i2c_init_master(i2c, speed);
|
||||||
|
}
|
||||||
|
|
||||||
|
uint16_t srf02_get_distance(srf02_t *dev, srf02_mode_t mode)
|
||||||
|
{
|
||||||
|
int status;
|
||||||
|
char range_high_byte = 0;
|
||||||
|
char range_low_byte = 0;
|
||||||
|
uint16_t distance = 0;
|
||||||
|
|
||||||
|
/* initialize measure mode*/
|
||||||
|
status = i2c_write_reg(dev->i2c, dev->addr, SRF02_COMMAND_REG, mode);
|
||||||
|
|
||||||
|
if (status < 0) {
|
||||||
|
DEBUG("Write the ranging command to the i2c-interface is failed");
|
||||||
|
uint16_t distance = UINT16_MAX;
|
||||||
|
return distance;
|
||||||
|
}
|
||||||
|
|
||||||
|
hwtimer_wait(70000);
|
||||||
|
|
||||||
|
status = i2c_read_reg(dev->i2c, dev->addr,
|
||||||
|
SRF02_RANGE_HIGH_BYTE, &range_high_byte);
|
||||||
|
|
||||||
|
if (status < 0) {
|
||||||
|
DEBUG("Read the high echo byte from the i2c-interface is failed");
|
||||||
|
distance = UINT16_MAX;
|
||||||
|
return distance;
|
||||||
|
}
|
||||||
|
|
||||||
|
status = i2c_read_reg(dev->i2c, dev->addr,
|
||||||
|
SRF02_RANGE_LOW_BYTE, &range_low_byte);
|
||||||
|
|
||||||
|
if (status < 0) {
|
||||||
|
DEBUG("Read the low echo byte from the i2c-interface is failed");
|
||||||
|
distance = UINT16_MAX;
|
||||||
|
return distance;
|
||||||
|
}
|
||||||
|
|
||||||
|
distance = (range_high_byte << 8) | (range_low_byte);
|
||||||
|
|
||||||
|
return distance;
|
||||||
|
}
|
||||||
24
tests/driver_srf02/Makefile
Normal file
24
tests/driver_srf02/Makefile
Normal file
@ -0,0 +1,24 @@
|
|||||||
|
APPLICATION = driver_srf02
|
||||||
|
include ../Makefile.tests_common
|
||||||
|
|
||||||
|
FEATURES_REQUIRED = periph_i2c
|
||||||
|
|
||||||
|
USEMODULE += vtimer
|
||||||
|
USEMODULE += srf02
|
||||||
|
|
||||||
|
# Define default settings
|
||||||
|
export TEST_SRF02_I2C ?= I2C_0
|
||||||
|
export TEST_SRF02_SPEED ?= I2C_SPEED_NORMAL
|
||||||
|
export TEST_MODE ?= SRF02_MODE_REAL_CM
|
||||||
|
|
||||||
|
include $(RIOTBASE)/Makefile.include
|
||||||
|
|
||||||
|
ifneq (,$(TEST_SRF02_I2C))
|
||||||
|
export CFLAGS += -DTEST_SRF02_I2C=$(TEST_SRF02_I2C)
|
||||||
|
endif
|
||||||
|
ifneq (,$(TEST_SRF02_SPEED))
|
||||||
|
export CFLAGS += -DTEST_SRF02_SPEED=$(TEST_SRF02_SPEED)
|
||||||
|
endif
|
||||||
|
ifneq (,$(TEST_MODE))
|
||||||
|
export CFLAGS += -DTEST_MODE=$(TEST_MODE)
|
||||||
|
endif
|
||||||
10
tests/driver_srf02/README.md
Normal file
10
tests/driver_srf02/README.md
Normal file
@ -0,0 +1,10 @@
|
|||||||
|
# About
|
||||||
|
This is a manual test application for the SRF02 ultrasonic ranger driver.
|
||||||
|
|
||||||
|
# Usage
|
||||||
|
|
||||||
|
|
||||||
|
After initialization, the sensor value is read periodically and printed to the STDOUT.
|
||||||
|
|
||||||
|
To verify the seen value you can focus the sensor against any reflecting object and vary the distance to
|
||||||
|
see the value changing.
|
||||||
60
tests/driver_srf02/main.c
Normal file
60
tests/driver_srf02/main.c
Normal file
@ -0,0 +1,60 @@
|
|||||||
|
/*
|
||||||
|
* 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 SRF02 ultrasonic range sensor
|
||||||
|
*
|
||||||
|
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
|
||||||
|
*
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
#ifndef TEST_SRF02_I2C
|
||||||
|
#error "TEST_SRF02_I2C not defined"
|
||||||
|
#endif
|
||||||
|
#ifndef TEST_SRF02_SPEED
|
||||||
|
#error "TEST_SRF02_SPEED not defined"
|
||||||
|
#endif
|
||||||
|
#ifndef TEST_MODE
|
||||||
|
#error "TEST_MODE not defined"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
#include "vtimer.h"
|
||||||
|
#include "srf02.h"
|
||||||
|
#include "periph/i2c.h"
|
||||||
|
|
||||||
|
#define SLEEP (1000 * 1000U)
|
||||||
|
|
||||||
|
static srf02_t srf02_0;
|
||||||
|
|
||||||
|
int main(void)
|
||||||
|
{
|
||||||
|
int res;
|
||||||
|
puts("SRF02 ultrasonic ranger test application\n");
|
||||||
|
printf("Initializing SRF02 sensor at I2C_%i... ", TEST_SRF02_I2C);
|
||||||
|
res = srf02_init(&srf02_0, TEST_SRF02_I2C, SRF02_DEFAULT_ADDR, TEST_SRF02_SPEED);
|
||||||
|
|
||||||
|
if (res < 0) {
|
||||||
|
printf("[Failed]");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
puts("[Ok]\n");
|
||||||
|
|
||||||
|
while(1) {
|
||||||
|
uint16_t distance = srf02_get_distance(&srf02_0, TEST_MODE);
|
||||||
|
printf("distance = %i cm\n", distance);
|
||||||
|
vtimer_usleep(SLEEP);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue
Block a user