/*
 * srf08-ultrasonic-sensor.h - Definitions for the SRF08 ultrasonic ranger.
 *
 * Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
 *
 * This source code is licensed under the LGPLv2 license,
 * See the file LICENSE for more details.
 */

/**
 * @file
 * @internal
 * @brief       Driver definitions for the SRF08 ultrasonic.
 *              The communication between the MCU and SRF08 is via the i2c
 *              interface.
 *
 * @author      Freie Universität Berlin, Computer Systems & Telematics
 * @author      Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
 * @version     $Revision: 3857 $
 *
 * @note        $Id: srf08-ultrasonic-sensor.h 3854 2013-09-03 16:26:13 kasmi $
 *
 */

#ifndef SRF08_ULTRASONIC_SENSOR_I2C_H_
#define SRF08_ULTRASONIC_SENSOR_I2C_H_

/* define the SRF02 registers*/
#define SRF08_DEFAULT_ADDR              112
#define SRF08_COMMAND_REG               0x0
#define SRF08_RANGE_HIGH_BYTE           0x2
#define SRF08_RANGE_LOW_BYTE            0x3
#define SRF08_REAL_RANGING_MODE_CM      0x51
#define SRF08_RANGE_REG                 0x2
#define SRF08_GAIN_REG                  0x1

#define SRF08_MAX_REGISTER_NUMBER       35
#define SRF08_MAX_ECHO_NUMBER           17

/* Define the used I2C Interface */
//#define I2C_INTERFACE I2C0            // P0.27 SDA0, P0.28 SCL0
//#define I2C_INTERFACE I2C1_0          // P0.0  SDA1, P0.1  SCL1
//#define I2C_INTERFACE I2C1_1          // P0.19 SDA1, P0.20 SCL1
#define SRF08_I2C_INTERFACE I2C2        // P0.10 SDA2, P0.11 SCL2


/**
 * @brief       Initialize the SRF08 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 SRF08 is successfully initialized, otherwise false.
 *
 */
bool srf08_init(uint8_t i2c_interface, uint32_t baud_rate);


/**
 * @brief       Start a continuous distance ranging with the SRF08 ultrasonic
 *              range-finder.
 *              The ranging results are given over the RS232-Interface.
 *
 * @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.
 *
 */
void srf08_start_ranging(uint8_t ranging_mode);


/**
 * @brief       Set the maximum range of the SRF08.
 *
 * @param[in] max_range  the adjusted maximal range is:
 *                       max_range = (max_rangex43mm) + 43mm.
 *
 */
void srf08_set_range(uint8_t max_range);


/**
 * @brief       Set the maximum of the analog stages.
 *
 * @param[in] max_gain  the maximal gain value.
 *
 */
void srf08_set_gain(uint8_t max_gain);


/**
 * @brief       Get the maximal range.
 *
 *
 * @return the maximal range value.
 */
uint8_t srf08_get_range(void);


/**
 * @brief       Get the maximal analog gain.
 *
 *
 * @return the maximal gain value.
 */
uint8_t srf08_get_gain(void);


/**
 * @brief       Get all distances measured from the SRF08 ultrasonic sensor. 
 *              The results of a ranging can be returned in inches, centimeters 
 *              or microseconds. The SRF08 can detect up to targets. 
 *              This function prints the distance values over the rs232 
 *              interface
 *
 * @param[in] range_array   a pointer to a buffer holding the ranging results.
 * @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 -1 if the write/read action from the i2c-interface is failed,
 *            otherwise the number of the detected targets is delivered.
 */
int32_t srf08_get_distances(uint32_t *range_array, uint8_t ranging_mode);

#endif /* SRF08_ULTRASONIC_SENSOR_I2C_H_ */