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https://github.com/RIOT-OS/RIOT.git
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2581b2c8a2
- added shell - made init manual (by giving address) - added command to change device address
118 lines
2.6 KiB
C
118 lines
2.6 KiB
C
/*
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* Copyright (C) 2014 Hamburg University of Applied Sciences
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* 2015 Freie Universität Berlin
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup tests
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* @{
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*
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* @file
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* @brief Test application for the SRF02 ultrasonic range sensor
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*
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* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
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* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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*
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* @}
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*/
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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "shell.h"
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#include "xtimer.h"
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#include "srf02.h"
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#ifndef TEST_SRF02_I2C
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#error "TEST_SRF02_I2C not defined"
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#endif
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#ifndef TEST_MODE
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#error "TEST_MODE not defined"
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#endif
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#define SAMPLE_PERIOD (100 * 1000U)
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static srf02_t dev;
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static void sample_loop(void)
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{
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uint32_t wakeup = xtimer_now();
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while(1) {
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uint16_t distance = srf02_get_distance(&dev, TEST_MODE);
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printf("distance = %3i cm\n", distance);
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xtimer_usleep_until(&wakeup, SAMPLE_PERIOD);
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}
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}
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static int cmd_init(int argc, char **argv)
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{
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int res;
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if (argc < 2) {
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printf("usage: %s <addr (decimal)>\n", argv[0]);
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return 1;
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}
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uint8_t addr = (uint8_t)atoi(argv[1]);
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printf("Initializing SRF02 sensor at I2C_DEV(%i), address is 0x%02x\n... ",
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TEST_SRF02_I2C, (int)addr);
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res = srf02_init(&dev, TEST_SRF02_I2C, addr);
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if (res < 0) {
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puts("[Failed]");
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return 1;
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}
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else {
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puts("[Ok]\n");
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}
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return 0;
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}
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static int cmd_sample(int argc, char **argv)
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{
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(void)argc;
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(void)argv;
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sample_loop();
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return 0;
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}
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static int cmd_set_addr(int argc, char **argv)
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{
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uint8_t new_addr;
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if (argc < 2) {
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printf("usage: %s <new_addr (decimal)>\n", argv[0]);
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return 1;
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}
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new_addr = (uint8_t)atoi(argv[1]);
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srf02_set_addr(&dev, new_addr);
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printf("Set address to %i (0x%02x)\n", (int)new_addr, (int)new_addr);
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return 0;
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}
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static const shell_command_t shell_commands[] = {
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{ "init", "initialize a device", cmd_init },
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{ "sample", "start sampling", cmd_sample },
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{ "addr", "reprogram the devices address", cmd_set_addr },
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{ NULL, NULL, NULL }
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};
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int main(void)
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{
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puts("\nSRF02 Ultrasonic Range Sensor Test\n");
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puts("This test will sample the sensor once per second and display the\n"
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"result\n");
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char line_buf[SHELL_DEFAULT_BUFSIZE];
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shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
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}
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