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67 lines
2.0 KiB
C
67 lines
2.0 KiB
C
/*
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* sarf02-ultrasonic-sensor.h - Definitions for the SRF02 ultrasonic ranger based on 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, 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 SRF02 ultrasonic ranger using the LPC2387 chip.
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* The connection between the SRF02 and the LPC2387 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: sarf02-ultrasonic-sensor.h 3854 2013-06-20 13:30:01Z zkasmi $
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*
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*/
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#ifndef SRF02_ULTRASONIC_SENSOR_I2C_H_
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#define SRF02_ULTRASONIC_SENSOR_I2C_H_
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#include "i2c.h"
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/* define the SRF02 registers*/
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#define SRF02_DEFAULT_ADDR 112
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#define SRF02_COMMAND_REG 0x0
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#define SRF02_RANGE_HIGH_BYTE 0x2
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#define SRF02_RANGE_LOW_BYTE 0x3
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#define SRF02_REAL_RANGING_MODE_CM 0x51
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/* Define the used I2C Interface */
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//#define SRF02_I2C_INTERFACE I2C0 // P0.27 SDA0, P0.28 SCL0
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//#define SRF02_I2C_INTERFACE I2C1_0 // P0.0 SDA1, P0.1 SCL1
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//#define SRF02_I2C_INTERFACE I2C1_1 // P0.19 SDA1, P0.20 SCL1
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#define SRF02_I2C_INTERFACE I2C2 // P0.10 SDA2, P0.11 SCL2
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#define SRF02_EXIT_MSG 0
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#define SRF02_RANGING_MSG 1
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#define SRF02_SLEEP_MSG 2
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#define SRF02_WEAKUP_MSG 3
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/**
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* @brief Initialize the SRF02 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 SRF02 is successfully initialized, otherwise false.
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*/
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bool srf02_init(uint8_t i2c_interface, uint32_t baud_rate);
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/**
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* @brief Start a continuous sampling of the distance measures.
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* This function prints the distance values in centimeters over the rs232 interface.
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*
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*/
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void srf02_start_ranging(void);
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#endif /* SRF02_ULTRASONIC_SENSOR_I2C_H_ */
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