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98 lines
3.4 KiB
C
98 lines
3.4 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 srf02 SRF02
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* @ingroup drivers
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* @brief Driver for the SRF02 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 srf02-ultrasonic-sensor.h
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* @brief Driver definitions for the SRF02 ultrasonic ranger.
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*
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* The connection between the SRF02 and the MCU is based on 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 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_INCH 0x50
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#define SRF02_REAL_RANGING_MODE_CM 0x51
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#define SRF02_REAL_RANGING_MODE_MICRO_SEC 0x52
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#define SRF02_FAKE_RANGING_MODE_INCH 0x56
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#define SRF02_FAKE_RANGING_MODE_CM 0x57
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#define SRF02_FAKE_RANGING_MODE_MICRO_SEC 0x58
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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
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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 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 Get the distance measured from the SRF02 ultrasonic sensor.
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* The result of a ranging can be returned in inches,
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* centimeters or microseconds
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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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* @return the ranging result in inches, centimeters or microseconds. In the
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* case of the fake ranging mode a zero value is returned. UINT32_MAX
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* is returned if write/read action from the i2c-interface is failed.
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*
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*/
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uint32_t srf02_get_distance(uint8_t ranging_mode);
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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 over the rs232
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* interface.
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*
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* @param[i] 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 srf02_start_ranging(uint16_t ranging_mode);
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/** @} */
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#endif /* SRF02_ULTRASONIC_SENSOR_I2C_H_ */
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