Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.

Dependencies:   ConfigFile HCSR04 PID PPM2 mbed-rtos mbed

SRFO2/SRFO2.cpp@2:d172c9963f87, 2017-10-26 (annotated)

Committer:
edy05
Date:
Thu Oct 26 15:54:47 2017 +0000
Revision:
2:d172c9963f87
stable release with distanceRegulation thread

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 2:d172c9963f87 1 #include "srf02.h"
edy05 2:d172c9963f87 2
edy05 2:d172c9963f87 3 SRF02::SRF02(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr)
edy05 2:d172c9963f87 4 {
edy05 2:d172c9963f87 5 }
edy05 2:d172c9963f87 6
edy05 2:d172c9963f87 7 SRF02::~SRF02()
edy05 2:d172c9963f87 8 {
edy05 2:d172c9963f87 9 }
edy05 2:d172c9963f87 10
edy05 2:d172c9963f87 11 //Get the data in centimeters
edy05 2:d172c9963f87 12 int SRF02::readcm()
edy05 2:d172c9963f87 13 {
edy05 2:d172c9963f87 14 char cmd[2];
edy05 2:d172c9963f87 15 char eco_high[1],eco_low[1]; //this is because the sensor, sends the data in tow bytes, and you have tu read from two different registers 0x02 and 0x03;
edy05 2:d172c9963f87 16
edy05 2:d172c9963f87 17
edy05 2:d172c9963f87 18 // Get range data from SRF02 in centimeters
edy05 2:d172c9963f87 19 cmd[0] = 0x00;
edy05 2:d172c9963f87 20 cmd[1] = 0x51;
edy05 2:d172c9963f87 21 m_i2c.write(m_addr, cmd, 2);
edy05 2:d172c9963f87 22
edy05 2:d172c9963f87 23 wait_ranging();
edy05 2:d172c9963f87 24
edy05 2:d172c9963f87 25
edy05 2:d172c9963f87 26 cmd[0] = 0x02;
edy05 2:d172c9963f87 27 m_i2c.write(m_addr, cmd, 1, 1);
edy05 2:d172c9963f87 28 m_i2c.read(m_addr, eco_high, 1);
edy05 2:d172c9963f87 29
edy05 2:d172c9963f87 30 cmd[0] = 0x03;
edy05 2:d172c9963f87 31 m_i2c.write(m_addr,cmd,1,1);
edy05 2:d172c9963f87 32 m_i2c.read(m_addr,eco_low,1);
edy05 2:d172c9963f87 33
edy05 2:d172c9963f87 34 int range = (eco_high[0]<<8)|eco_low[0];
edy05 2:d172c9963f87 35
edy05 2:d172c9963f87 36 return range;
edy05 2:d172c9963f87 37 }
edy05 2:d172c9963f87 38
edy05 2:d172c9963f87 39 //Get the data in inches
edy05 2:d172c9963f87 40 int SRF02::readinch()
edy05 2:d172c9963f87 41 {
edy05 2:d172c9963f87 42 char cmd[2];
edy05 2:d172c9963f87 43 char eco_high[1],eco_low[1]; //this is because the sensor, sends the data in tow bytes, and you have tu read from two different registers 0x02 and 0x03;
edy05 2:d172c9963f87 44
edy05 2:d172c9963f87 45 cmd[0] = 0x00;
edy05 2:d172c9963f87 46 cmd[1] = 0x50;
edy05 2:d172c9963f87 47 m_i2c.write(m_addr, cmd, 2);
edy05 2:d172c9963f87 48
edy05 2:d172c9963f87 49 wait_ranging();
edy05 2:d172c9963f87 50
edy05 2:d172c9963f87 51 cmd[0] = 0x02;
edy05 2:d172c9963f87 52 m_i2c.write(m_addr, cmd, 1, 1);
edy05 2:d172c9963f87 53 m_i2c.read(m_addr, eco_high, 1);
edy05 2:d172c9963f87 54
edy05 2:d172c9963f87 55 cmd[0] = 0x03;
edy05 2:d172c9963f87 56 m_i2c.write(m_addr,cmd,1,1);
edy05 2:d172c9963f87 57 m_i2c.read(m_addr,eco_low,1);
edy05 2:d172c9963f87 58
edy05 2:d172c9963f87 59 int range = (eco_high[0]<<8)|eco_low[0];
edy05 2:d172c9963f87 60
edy05 2:d172c9963f87 61 return range;
edy05 2:d172c9963f87 62 }
edy05 2:d172c9963f87 63
edy05 2:d172c9963f87 64 //Change adress of the device. Remember to have only one sensor conected to execute this method.
edy05 2:d172c9963f87 65 void SRF02::change_addr(char new_addr)
edy05 2:d172c9963f87 66 {
edy05 2:d172c9963f87 67 char cmd[2];
edy05 2:d172c9963f87 68
edy05 2:d172c9963f87 69 cmd[0]=0x00;
edy05 2:d172c9963f87 70 cmd[1]=0xA0;
edy05 2:d172c9963f87 71 m_i2c.write(m_addr,cmd,2);
edy05 2:d172c9963f87 72 cmd[0]=0x00;
edy05 2:d172c9963f87 73 cmd[1]=0xAA;
edy05 2:d172c9963f87 74 m_i2c.write(m_addr,cmd,2);
edy05 2:d172c9963f87 75 cmd[0]=0x00;
edy05 2:d172c9963f87 76 cmd[1]=0xA5;
edy05 2:d172c9963f87 77 m_i2c.write(m_addr,cmd,2);
edy05 2:d172c9963f87 78 cmd[0]=0x00;
edy05 2:d172c9963f87 79 cmd[1]=new_addr;
edy05 2:d172c9963f87 80 m_i2c.write(m_addr,cmd,2);
edy05 2:d172c9963f87 81
edy05 2:d172c9963f87 82 }
edy05 2:d172c9963f87 83
edy05 2:d172c9963f87 84 void SRF02::wait_ranging(void)
edy05 2:d172c9963f87 85 {
edy05 2:d172c9963f87 86 char eco;
edy05 2:d172c9963f87 87
edy05 2:d172c9963f87 88 do {
edy05 2:d172c9963f87 89 eco=m_i2c.read(1);
edy05 2:d172c9963f87 90 }while(eco == 0xff);
edy05 2:d172c9963f87 91 }