
8 changed files with 399 additions and 320 deletions
@ -1,162 +0,0 @@
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/*
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* Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de> |
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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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* @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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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/** @brief The sensors default I2C address */ |
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#define SRF08_DEFAULT_ADDR 112 |
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/** @brief The sensors command register (write) */ |
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#define SRF08_COMMAND_REG 0x0 |
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/** @brief Max. gain register (write) */ |
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#define SRF08_GAIN_REG 0x1 |
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/** @brief The sensors range register (write) */ |
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#define SRF08_RANGE_REG 0x2 |
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/** @brief The upper measurement byte (read) */ |
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#define SRF08_RANGE_HIGH_BYTE 0x2 |
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/** @brief The lower measurement byte (read)*/ |
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#define SRF08_RANGE_LOW_BYTE 0x3 |
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/** @brief Measure in inch mode */ |
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#define SRF08_REAL_RANGING_MODE_CM 0x50 |
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/** @brief Measure in cm mode */ |
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#define SRF08_REAL_RANGING_MODE_CM 0x51 |
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/** @brief Measure in micro-seconds mode */ |
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#define SRF08_REAL_RANGING_MODE_CM 0x52 |
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/** @brief Number of highest register */ |
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#define SRF08_MAX_REGISTER_NUMBER 35 |
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/** @brief Maximum number of echos from more distant objects */ |
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#define SRF08_MAX_ECHO_NUMBER 17 |
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/** @brief Define the used I2C Interface */ |
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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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#ifdef __cplusplus |
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} |
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#endif |
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/** @} */ |
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#endif /* SRF08_ULTRASONIC_SENSOR_I2C_H_ */ |
@ -0,0 +1,164 @@
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/*
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* Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de> |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser General |
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* Public License v2.1. See the file LICENSE in the top level directory for more |
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* details. |
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*/ |
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/**
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* @defgroup driver_srf08 SRF08 ultrasonic range sensor |
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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 srf08.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 SRF08 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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* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de> |
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*/ |
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#ifndef SRF08_H_ |
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#define SRF08_H_ |
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#include <stdint.h> |
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#include "periph/i2c.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/** @brief The sensors default I2C address */ |
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#define SRF08_DEFAULT_ADDR 112 |
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/** @brief The sensors command register (write) */ |
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#define SRF08_COMMAND_REG 0x0 |
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/** @brief Max. gain register (write) */ |
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#define SRF08_GAIN_REG 0x1 |
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/** @brief The sensors range register (write) */ |
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#define SRF08_RANGE_REG 0x2 |
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/** @brief The upper measurement byte (read) */ |
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#define SRF08_RANGE_HIGH_BYTE 0x2 |
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/** @brief The lower measurement byte (read)*/ |
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#define SRF08_RANGE_LOW_BYTE 0x3 |
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/** @brief Number of highest register */ |
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#define SRF08_MAX_REGISTER_NUMBER 35 |
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/** @brief Maximum number of echos from more distant objects */ |
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#define SRF08_MAX_ECHO_NUMBER 17 |
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/** @brief Maximum range the sensor can measure (6m) */ |
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#define SRF08_MAX_RANGE_6M 0x8C |
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/** @brief Maximum gain of the sensor (1025)*/ |
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#define SRF08_MAX_GAIN 0x25 |
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/**
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* @brief Device descriptor for SRF08 sensors |
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*/ |
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typedef struct { |
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i2c_t i2c; /**< I2C device the sensor is connected to */ |
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uint8_t addr; /**< I2C bus address of the sensor */ |
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} srf08_t; |
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/**
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* @brief Possible measurement modes for the SRF08 sensor |
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*/ |
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typedef enum { |
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SRF08_MODE_INCH = 0x50, /**< result in inches */ |
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SRF08_MODE_CM = 0x51, /**< result in centimeters */ |
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SRF08_MODE_MICRO_SEC = 0x52, /**< result in centimeters */ |
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SRF08_ANN_MODE_INCH = 0x53, /**< synchronous measurement in inches */ |
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SRF08_ANN_MODE_CM = 0x54, /**< synchronous measurement in centimeters */ |
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SRF08_ANN_MODE_MICRO_SEC = 0x55 /**< synchronous measurement in microseconds */ |
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}srf08_mode_t; |
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/**
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* @brief Initialize the SRF08 ultrasonic sensor |
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* |
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* @param[in] dev device descriptor of an SRF08 sensor |
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* @param[in] i2c I2C device the sensor is connected to |
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* @param[in] addr I2C address of the sensor |
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* @param[in] speed I2C speed mode |
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* |
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* @return 0 on successful initialization |
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* @return -1 on undefined device given |
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* @return -2 on unsupported speed value |
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* @return -3 on max. range error |
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* @return -4 on max. gain error |
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* |
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*/ |
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int srf08_init(srf08_t *dev, i2c_t i2c, uint8_t addr, i2c_speed_t speed); |
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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] dev device descriptor of an SRF08 sensor |
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* @param[in] max_range the adjusted maximal range is: |
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* max_range = (max_range x 43mm) + 43mm. |
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* The hardware limit is 6m. |
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* |
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* @return 1 on success |
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* @return -1 on undefined device given |
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* |
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*/ |
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int srf08_set_max_range(srf08_t *dev, 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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* @ note |
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* This value is just a limitation of the maximum amplification and not the actual.
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* While measuing, this value starts at its minimum and increases approx. each 75 us |
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* until the maximum value is reached. |
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* |
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* @param[in] dev device descriptor of an SRF08 sensor |
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* @param[in] max_gain the maximal gain value. |
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* |
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* @return 1 on success |
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* @return -1 on undefined device given |
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* |
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*/ |
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int srf08_set_max_gain(srf08_t *dev, uint8_t max_gain); |
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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 17 targets. |
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* |
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* |
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* @param[in] dev device descriptor of an SRF08 sensor |
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* @param[in] range_array a pointer to a buffer holding the ranging results. |
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* @param[in] num_echos number of stored measurements (echos) |
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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 number of measured echos on success |
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* @return -1 on ranging mode errors |
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* @return -2 if num_echos exceeds the max. number of |
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possible measurements |
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* @return -3 if i2c read high byte failed |
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* @return -4 if i2c read low byte failed |
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* |
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*/ |
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int srf08_get_distances(srf08_t *dev, uint16_t *range_array, int num_echos, srf08_mode_t ranging_mode); |
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#ifdef __cplusplus |
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} |
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#endif |
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/** @} */ |
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#endif /* SRF08_H_ */ |
@ -1 +1,3 @@
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MODULE = srf08
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include $(RIOTBASE)/Makefile.base |
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@ -1,158 +0,0 @@
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/*
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* srf08-ultrasonic-sensor.c - Driver for the SRF08 ultrasonic ranger via the |
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* i2c interface. |
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* |
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* Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de> |
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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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* @file |
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* @internal |
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* @brief Driver for the SRF08 ultrasonic ranger using the i2c interface. |
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* |
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* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de> |
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* @version $Revision: 3857 $ |
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* |
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* @note $Id: srf08-ultrasonic-sensor.c 3857 2013-09-05 14:45:13 kasmi $ |
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* |
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*/ |
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#include <stdbool.h> |
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#include <stdint.h> |
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#include <stdio.h> |
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#include "hwtimer.h" |
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#include "srf08-ultrasonic-sensor.h" |
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#include "i2c.h" |
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bool srf08_init(uint8_t i2c_interface, uint32_t baud_rate) |
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{ |
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if (i2c_initialize(i2c_interface, (uint32_t) I2CMASTER, 0, baud_rate, NULL) |
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== false) { /* initialize I2C */ |
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puts("fatal error happened in i2c_initialize()\n"); |
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return false; |
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} |
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else { |
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i2c_enable_pull_up_resistor(i2c_interface); |
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//i2c_disable_pull_up_resistor(i2c_interface);
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return true; |
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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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uint8_t tx_buff[1]; |
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tx_buff[0] = max_range; |
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i2c_write(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_RANGE_REG, tx_buff, |
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1); |
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} |
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void srf08_set_gain(uint8_t gain) |
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{ |
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uint8_t tx_buff[1]; |
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tx_buff[0] = gain; |
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i2c_write(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_GAIN_REG, tx_buff, |
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1); |
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} |
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uint8_t srf08_get_range(void) |
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{ |
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uint8_t rx_buff[1]; |
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i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_RANGE_REG, rx_buff, |
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1); |
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return rx_buff[0]; |
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} |
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uint8_t srf08_get_gain(void) |
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{ |
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uint8_t rx_buff[1]; |
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i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, SRF08_GAIN_REG, rx_buff, |
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1); |
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return rx_buff[0]; |
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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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bool status; |
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uint8_t reg_size = 1; |
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uint8_t rx_buff[reg_size]; |
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uint8_t tx_buff[reg_size]; |
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uint8_t register_location; |
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uint8_t echo_number = 0; |
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tx_buff[0] = ranging_mode; |
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status = i2c_write(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, |
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SRF08_COMMAND_REG, tx_buff, reg_size); |
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if (!status) { |
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puts("Write the ranging command to the i2c-interface is failed"); |
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return -1; |
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} |
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hwtimer_wait(HWTIMER_TICKS(70000)); |
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// Read all echo buffers
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for (register_location = 2; register_location < SRF08_MAX_REGISTER_NUMBER; |
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register_location += 2) { |
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//read the high echo byte
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status = i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, |
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register_location, rx_buff, reg_size); |
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if (!status) { |
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puts("Read the high echo byte from the i2c-interface is failed"); |
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return -1; |
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} |
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uint8_t range_high_byte = rx_buff[0]; |
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//read the low echo byte
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status = i2c_read(SRF08_I2C_INTERFACE, SRF08_DEFAULT_ADDR, |
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register_location + 1, rx_buff, reg_size); |
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if (!status) { |
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puts("Read the low echo byte from the i2c-interface is failed"); |
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return -1; |
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} |
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uint8_t range_low_byte = rx_buff[0]; |
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if ((range_high_byte == 0) && (range_low_byte == 0)) { |
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break; |
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} |
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else { |
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uint32_t distance = (range_high_byte << 8) | range_low_byte; |
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range_array[(register_location - 2) / 2] = distance; |
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echo_number++; |
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printf("distance = %4lu cm , echo%d\n", |
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distance, register_location / 2); |
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} |
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hwtimer_wait(HWTIMER_TICKS(500000)); |
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} |
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puts("--------------------------------------------"); |
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return echo_number; |
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} |
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void srf08_start_ranging(uint8_t ranging_mode) |
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{ |
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uint32_t range_array[SRF08_MAX_ECHO_NUMBER]; |
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uint8_t i; |
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puts("Ultrasonic SRF08 engine is started"); |
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//wait due to calibration
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hwtimer_wait(HWTIMER_TICKS(700000)); |
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printf("Actual range = %d\n", srf08_get_range()); |
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printf("Actual gain = %d\n", srf08_get_gain()); |
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while (1) { |
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puts("--------------------------------------------"); |
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uint8_t echo_number = srf08_get_distances(range_array, ranging_mode); |
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if (echo_number > 0) { |
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for (i = 0; i < echo_number; i++) { |
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printf("stored distance = %4lu cm , echo%d\n", range_array[i], i + 1); |
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} |
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} |
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else { |
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break; |
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} |
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} |
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} |
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|
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/*
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* Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de> |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser General |
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* Public License v2.1. See the file LICENSE in the top level directory for more |
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* details. |
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*/ |
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|
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/**
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* @ingroup driver_srf08 |
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* @{ |
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* |
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* @file srf08.c |
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* @brief Driver for the SRF08 ultrasonic ranger. |
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* The connection between the MCU and the SRF08 is based on the |
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* i2c-interface. |
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* |
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* @author Zakaria Kasmi <zkasmi@inf.fu-berlin.de> |
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* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de> |
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* |
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* @} |
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*/ |
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#include <stdbool.h> |
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#include <stdint.h> |
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#include <stdio.h> |
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#include "hwtimer.h" |
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#include "srf08.h" |
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#include "periph/i2c.h" |
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#define ENABLE_DEBUG (0) |
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#include "debug.h" |
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int srf08_init(srf08_t *dev, i2c_t i2c, uint8_t addr, i2c_speed_t speed) |
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{ |
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dev->i2c = i2c; |
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dev->addr = addr; |
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/* initialize i2c interface */ |
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if(i2c_init_master(i2c, speed) < 0) { |
||||
return -1; |
||||
} |
||||
/* set the maximum range */ |
||||
if (srf08_set_max_range(dev, SRF08_MAX_RANGE_6M) < 0) { |
||||
return -3; |
||||
} |
||||
/* set the maximum gain */ |
||||
if (srf08_set_max_gain(dev, SRF08_MAX_GAIN) < 0) { |
||||
return -4; |
||||
} |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
|
||||
int srf08_set_max_range(srf08_t *dev, uint8_t max_range) |
||||
{ |
||||
return i2c_write_reg(dev->i2c, dev->addr, SRF08_RANGE_REG, max_range); |
||||
} |
||||
|
||||
|
||||
int srf08_set_max_gain(srf08_t *dev, uint8_t gain) |
||||
{ |
||||
return i2c_write_reg(dev->i2c, dev->addr, SRF08_GAIN_REG, gain); |
||||
} |
||||
|
||||
|
||||
int srf08_get_distances(srf08_t *dev, uint16_t *range_array, int num_echos, srf08_mode_t ranging_mode) |
||||
{ |
||||
int status; |
||||
int echo_number = 0; |
||||
char range_bytes[sizeof(uint16_t)]; |
||||
char register_location; |
||||
char max_reg_no_read = (num_echos * sizeof(range_bytes)) +1; |
||||
|
||||
/* set ranging mode */ |
||||
status = i2c_write_reg(dev->i2c, dev->addr, SRF08_COMMAND_REG, ranging_mode); |
||||
|
||||
if (!status) { |
||||
DEBUG("Write the ranging command to the i2c-interface is failed"); |
||||
return -1; |
||||
} |
||||
|
||||
if(max_reg_no_read > SRF08_MAX_REGISTER_NUMBER) { |
||||
DEBUG("Too many echos requested. Max. is 17"); |
||||
return -2; |
||||
} |
||||
|
||||
hwtimer_wait(HWTIMER_TICKS(70000)); |
||||
|
||||
/* read all echo buffers */ |
||||
for (register_location = 2; register_location < max_reg_no_read; |
||||
register_location += sizeof(range_bytes)) { |
||||
|
||||
/* read the echo bytes */ |
||||
status = i2c_read_regs(dev->i2c, dev->addr, register_location, range_bytes, sizeof(range_bytes)); |
||||
|
||||
if (!status) { |
||||
DEBUG("Read the echo bytes from the i2c-interface is failed"); |
||||
return -3; |
||||
} |
||||
|
||||
if (range_bytes == 0) { |
||||
break; |
||||
} |
||||
|
||||
else { |
||||
uint16_t distance = (range_bytes[0] << 8) | range_bytes[1]; |
||||
range_array[(register_location - 2) / 2] = distance; |
||||
echo_number++; |
||||
} |
||||
} |
||||
|
||||
return echo_number; |
||||
} |
@ -0,0 +1,28 @@
|
||||
APPLICATION = driver_srf08
|
||||
include ../Makefile.tests_common |
||||
|
||||
FEATURES_REQUIRED = periph_i2c
|
||||
|
||||
USEMODULE += vtimer
|
||||
USEMODULE += srf08
|
||||
|
||||
# Define default settings
|
||||
export TEST_SRF08_I2C ?= I2C_0
|
||||
export TEST_SRF08_SPEED ?= I2C_SPEED_NORMAL
|
||||
export TEST_MODE ?= SRF08_MODE_CM
|
||||
export TEST_NUM_ECHOS?= 3
|
||||
|
||||
include $(RIOTBASE)/Makefile.include |
||||
|
||||
ifneq (,$(TEST_SRF08_I2C)) |
||||
export CFLAGS += -DTEST_SRF08_I2C=$(TEST_SRF08_I2C)
|
||||
endif |
||||
ifneq (,$(TEST_SRF08_SPEED)) |
||||
export CFLAGS += -DTEST_SRF08_SPEED=$(TEST_SRF08_SPEED)
|
||||
endif |
||||
ifneq (,$(TEST_MODE)) |
||||
export CFLAGS += -DTEST_MODE=$(TEST_MODE)
|
||||
endif |
||||
ifneq (,$(TEST_NUM_ECHOS)) |
||||
export CFLAGS += -DTEST_NUM_ECHOS=$(TEST_NUM_ECHOS)
|
||||
endif |
@ -0,0 +1,10 @@
|
||||
# About |
||||
This is a manual test application for the SRF08 ultrasonic ranger driver. |
||||
|
||||
# Usage |
||||
|
||||
|
||||
After initialization, the sensor values are read periodically and printed to the STDOUT. Here, three echos are stored. |
||||
|
||||
To verify the seen values you can focus the sensor against any reflecting object and vary the distance to |
||||
see especially the first measured value changing. |
@ -0,0 +1,78 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Hamburg University of Applied Sciences |
||||
* |
||||
* This file is subject to the terms and conditions of the GNU Lesser |
||||
* General Public License v2.1. See the file LICENSE in the top level |
||||
* directory for more details. |
||||
*/ |
||||
|
||||
/**
|
||||
* @ingroup tests |
||||
* @{ |
||||
* |
||||
* @file |
||||
* @brief Test application for the SRF08 ultrasonic range sensor |
||||
* |
||||
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de> |
||||
* |
||||
* @} |
||||
*/ |
||||
#ifndef TEST_SRF08_I2C |
||||
#error "TEST_SRF08_I2C not defined" |
||||
#endif |
||||
#ifndef TEST_SRF08_SPEED |
||||
#error "TEST_SRF08_SPEED not defined" |
||||
#endif |
||||
#ifndef TEST_MODE |
||||
#error "TEST_MODE not defined" |
||||
#endif |
||||
#ifndef TEST_NUM_ECHOS |
||||
#error "TEST_NUM_ECHOS not defined" |
||||
#endif |
||||
|
||||
#include <stdio.h> |
||||
|
||||
#include "vtimer.h" |
||||
#include "srf08.h" |
||||
#include "periph/i2c.h" |
||||
|
||||
#define SLEEP (1000 * 1000U) |
||||
|
||||
static srf08_t srf08_0; |
||||
|
||||
int main(void) |
||||
{ |
||||
puts("SRF08 ultrasonic ranger test application\n"); |
||||
printf("Initializing SRF08 sensor at I2C_%i... ", TEST_SRF08_I2C); |
||||
|
||||
int res; |
||||
uint16_t range_array[TEST_NUM_ECHOS]; |
||||
|
||||
res = srf08_init(&srf08_0, TEST_SRF08_I2C, SRF08_DEFAULT_ADDR, TEST_SRF08_SPEED); |
||||
|
||||
if (res < 0) { |
||||
printf("[Failed]"); |
||||
return 1; |
||||
} |
||||
|
||||
else { |
||||
puts("[Ok]\n"); |
||||
|
||||
while(1) { |
||||
|
||||
int echo_number = srf08_get_distances(&srf08_0, range_array, TEST_NUM_ECHOS, TEST_MODE); |
||||
|
||||
if (echo_number > 0) { |
||||
for (int i = 0; i < echo_number; i++) { |
||||
printf("stored distance = %i cm , echo%i\n", range_array[i], i + 1); |
||||
} |
||||
puts("--------------------------------------------"); |
||||
} |
||||
|
||||
else { |
||||
puts("An error occured"); |
||||
} |
||||
vtimer_usleep(SLEEP); |
||||
} |
||||
} |
||||
} |
Loading…
Reference in new issue