Helmut Schmücker / Srf0208IF

Interface library for the Devantech SRF02/SRF08 ultrasonic i2c rangers. Depends on I2cRtosDriver lib!

Srf0208IFTest02.h@3:70c946ba29cc, 2013-06-01 (annotated)

Committer:
humlet
Date:
Sat Jun 01 07:40:00 2013 +0000
Revision:
3:70c946ba29cc
commitNpublish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
humlet 3:70c946ba29cc 1 #include "Srf0208IF.h"
humlet 3:70c946ba29cc 2 #include "I2CMasterRtos.h"
humlet 3:70c946ba29cc 3 #include "Serial.h"
humlet 3:70c946ba29cc 4 #include "us_ticker_api.h"
humlet 3:70c946ba29cc 5 #include "Thread.h"
humlet 3:70c946ba29cc 6 #include "math.h"
humlet 3:70c946ba29cc 7
humlet 3:70c946ba29cc 8 using namespace mbed;
humlet 3:70c946ba29cc 9 using namespace rtos;
humlet 3:70c946ba29cc 10
humlet 3:70c946ba29cc 11 I2CMasterRtos i2c(p28, p27,100000);
humlet 3:70c946ba29cc 12
humlet 3:70c946ba29cc 13 Srf08IF srf08(0xe0,i2c);
humlet 3:70c946ba29cc 14 Srf02IF srf02(0xe6,i2c);
humlet 3:70c946ba29cc 15
humlet 3:70c946ba29cc 16 int doit()
humlet 3:70c946ba29cc 17 {
humlet 3:70c946ba29cc 18 Thread::wait(1000);
humlet 3:70c946ba29cc 19 printf("\n\n\n########### STARTING ###############\n\n\n");
humlet 3:70c946ba29cc 20 Thread::wait(1000);
humlet 3:70c946ba29cc 21
humlet 3:70c946ba29cc 22 if(0) { // reset i3c addresses
humlet 3:70c946ba29cc 23 Srf02IF srf(0xe0,i2c);
humlet 3:70c946ba29cc 24 srf.resetI2CAdress(0xe6);
humlet 3:70c946ba29cc 25 return 0;
humlet 3:70c946ba29cc 26 }
humlet 3:70c946ba29cc 27
humlet 3:70c946ba29cc 28
humlet 3:70c946ba29cc 29 while(1) {
humlet 3:70c946ba29cc 30 int t0 = us_ticker_read();
humlet 3:70c946ba29cc 31 srf02.triggerEchoMeasurement();
humlet 3:70c946ba29cc 32 int t1 = us_ticker_read();
humlet 3:70c946ba29cc 33 srf08.triggerRanging();
humlet 3:70c946ba29cc 34 //srf08.triggerANNRanging();
humlet 3:70c946ba29cc 35 int t2 = us_ticker_read();
humlet 3:70c946ba29cc 36
humlet 3:70c946ba29cc 37 Thread::wait(100);
humlet 3:70c946ba29cc 38 //while(!(srf08.rangingCompleted() && srf02.rangingCompleted())) printf(".");
humlet 3:70c946ba29cc 39 //while(!(srf02.rangingCompleted())) printf(".");
humlet 3:70c946ba29cc 40 //printf("\n");
humlet 3:70c946ba29cc 41
humlet 3:70c946ba29cc 42 int d02=srf02.readDistance_mm();
humlet 3:70c946ba29cc 43 int d08=srf08.readDistance_mm();
humlet 3:70c946ba29cc 44 srf08.burstRead();
humlet 3:70c946ba29cc 45
humlet 3:70c946ba29cc 46
humlet 3:70c946ba29cc 47 int l08=srf08.getBrightnessFromRawBuffer();
humlet 3:70c946ba29cc 48 const int echos = 5;
humlet 3:70c946ba29cc 49 printf("l=%d d08=%d d02=%d ",l08,d08,d02);
humlet 3:70c946ba29cc 50 for(int i=0; i<echos; ++i) printf("D%d=%d ",i,srf08.getDistanceFromRawBuffer_mm(i));
humlet 3:70c946ba29cc 51 //printf("\n");
humlet 3:70c946ba29cc 52
humlet 3:70c946ba29cc 53 int t02a = srf02.readTransitTime_us();
humlet 3:70c946ba29cc 54 int t08 = srf08.readTransitTime_us();
humlet 3:70c946ba29cc 55 int ok = srf02.triggerRanging();
humlet 3:70c946ba29cc 56 Thread::wait(100);
humlet 3:70c946ba29cc 57 int t02b = srf02.readTransitTime_us();
humlet 3:70c946ba29cc 58 int dmin = srf02.readMinimalDistance_mm();
humlet 3:70c946ba29cc 59 int t02c = t02a-(t2-t1);
humlet 3:70c946ba29cc 60 printf(" dt08m=%d d02m=%d d02c=%d dt02mc=%d ds0208=%d dmin=%d\n",
humlet 3:70c946ba29cc 61 Srf0208IF::time2dist_us2mm(t08),
humlet 3:70c946ba29cc 62 Srf0208IF::time2dist_us2mm(t02b),
humlet 3:70c946ba29cc 63 Srf0208IF::time2dist_us2mm(t02c)-130,
humlet 3:70c946ba29cc 64 Srf0208IF::time2dist_us2mm(t02b-t02c),
humlet 3:70c946ba29cc 65 Srf0208IF::time2dist_us2mm(t08-t02b),
humlet 3:70c946ba29cc 66 dmin);
humlet 3:70c946ba29cc 67 Thread::wait(100);
humlet 3:70c946ba29cc 68 /*
humlet 3:70c946ba29cc 69 srf08.triggerANNRanging();
humlet 3:70c946ba29cc 70 Thread::wait(100);
humlet 3:70c946ba29cc 71 srf08.burstRead();
humlet 3:70c946ba29cc 72 printf("d=%d ",srf08.getDistanceFromRawBuffer_mm(0));
humlet 3:70c946ba29cc 73 const int slots=32;
humlet 3:70c946ba29cc 74 for(int i=0; i<slots; ++i) printf("%d ",srf08.getANNSlotDataFromRawBuffer(i));
humlet 3:70c946ba29cc 75 printf("\n");
humlet 3:70c946ba29cc 76 */
humlet 3:70c946ba29cc 77 Thread::wait(100);
humlet 3:70c946ba29cc 78 }
humlet 3:70c946ba29cc 79 }