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132 lines
3.9 KiB
C
132 lines
3.9 KiB
C
/*
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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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* See the file LICENSE for more details.
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*/
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/**
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* @defgroup srf08 SRF08
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* @ingroup drivers
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* @brief Driver for the SRF08 ultrasonic range sensor
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*
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* The connection between the MCU and the SRF08 is based on the i2c-interface.
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*
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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 SRF08 ultrasonic.
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*
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* The communication between the MCU and SRF08 is via the i2c interface.
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*
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* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
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*/
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#ifndef SRF08_ULTRASONIC_SENSOR_I2C_H_
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#define SRF08_ULTRASONIC_SENSOR_I2C_H_
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/* define the SRF02 registers*/
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#define SRF08_DEFAULT_ADDR 112
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#define SRF08_COMMAND_REG 0x0
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#define SRF08_RANGE_HIGH_BYTE 0x2
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#define SRF08_RANGE_LOW_BYTE 0x3
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#define SRF08_REAL_RANGING_MODE_CM 0x51
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#define SRF08_RANGE_REG 0x2
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#define SRF08_GAIN_REG 0x1
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#define SRF08_MAX_REGISTER_NUMBER 35
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#define SRF08_MAX_ECHO_NUMBER 17
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/* Define the used I2C Interface */
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//#define I2C_INTERFACE I2C0 // P0.27 SDA0, P0.28 SCL0
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//#define I2C_INTERFACE I2C1_0 // P0.0 SDA1, P0.1 SCL1
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//#define I2C_INTERFACE I2C1_1 // P0.19 SDA1, P0.20 SCL1
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#define SRF08_I2C_INTERFACE I2C2 // P0.10 SDA2, P0.11 SCL2
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/**
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* @brief Initialize the SRF08 ultrasonic sensor.
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*
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* @param[in] i2c_interface the i2c interface, several interfaces can be
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* 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 SRF08 is successfully initialized, otherwise false.
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*
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*/
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bool srf08_init(uint8_t i2c_interface, uint32_t baud_rate);
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/**
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* @brief Start a continuous distance ranging with the SRF08 ultrasonic
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* range-finder.
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* The ranging results are given over the RS232-Interface.
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*
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* @param[in] ranging_mode there are three real ranging modes, which return
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* the result in inches, centimeters or microseconds.
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* Another set of three fake ranging modes do the same
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* but without transmitting the burst.
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*
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*/
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void srf08_start_ranging(uint8_t ranging_mode);
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/**
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* @brief Set the maximum range of the SRF08.
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*
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* @param[in] max_range the adjusted maximal range is:
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* max_range = (max_rangex43mm) + 43mm.
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*
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*/
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void srf08_set_range(uint8_t max_range);
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/**
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* @brief Set the maximum of the analog stages.
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*
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* @param[in] max_gain the maximal gain value.
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*
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*/
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void srf08_set_gain(uint8_t max_gain);
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/**
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* @brief Get the maximal range.
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*
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*
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* @return the maximal range value.
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*/
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uint8_t srf08_get_range(void);
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/**
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* @brief Get the maximal analog gain.
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*
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*
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* @return the maximal gain value.
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*/
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uint8_t srf08_get_gain(void);
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/**
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* @brief Get all distances measured from the SRF08 ultrasonic sensor.
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* The results of a ranging can be returned in inches, centimeters
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* or microseconds. The SRF08 can detect up to targets.
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* This function prints the distance values over the rs232
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* interface
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*
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* @param[in] range_array a pointer to a buffer holding the ranging results.
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* @param[in] ranging_mode there are three real ranging modes, which return
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* the result in inches, centimeters or microseconds.
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* Another set of three fake ranging modes do the same
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* but without transmitting the burst.
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*
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* @return -1 if the write/read action from the i2c-interface is failed,
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* otherwise the number of the detected targets is delivered.
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*/
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int32_t srf08_get_distances(uint32_t *range_array, uint8_t ranging_mode);
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/** @} */
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#endif /* SRF08_ULTRASONIC_SENSOR_I2C_H_ */
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