Diff: Srf0208IFTest02.h

Revision:

3:70c946ba29cc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Srf0208IFTest02.h	Sat Jun 01 07:40:00 2013 +0000
@@ -0,0 +1,79 @@
+#include "Srf0208IF.h"
+#include "I2CMasterRtos.h"
+#include "Serial.h"
+#include "us_ticker_api.h"
+#include "Thread.h"
+#include "math.h"
+
+using namespace mbed;
+using namespace rtos;
+
+I2CMasterRtos i2c(p28, p27,100000);
+
+Srf08IF srf08(0xe0,i2c);
+Srf02IF srf02(0xe6,i2c);
+
+int doit()
+{
+    Thread::wait(1000);
+    printf("\n\n\n########### STARTING ###############\n\n\n");
+    Thread::wait(1000);
+
+    if(0) { // reset i3c addresses
+        Srf02IF srf(0xe0,i2c);
+        srf.resetI2CAdress(0xe6);
+        return 0;
+    }
+
+
+    while(1) {
+        int t0 = us_ticker_read();
+        srf02.triggerEchoMeasurement();
+        int t1 = us_ticker_read();
+        srf08.triggerRanging();
+        //srf08.triggerANNRanging();
+        int t2 = us_ticker_read();
+
+        Thread::wait(100);
+        //while(!(srf08.rangingCompleted() && srf02.rangingCompleted())) printf(".");
+        //while(!(srf02.rangingCompleted())) printf(".");
+        //printf("\n");
+
+        int d02=srf02.readDistance_mm();
+        int d08=srf08.readDistance_mm();
+        srf08.burstRead();
+
+
+        int l08=srf08.getBrightnessFromRawBuffer();
+        const int echos = 5;
+        printf("l=%d  d08=%d  d02=%d ",l08,d08,d02);
+        for(int i=0; i<echos; ++i) printf("D%d=%d ",i,srf08.getDistanceFromRawBuffer_mm(i));
+        //printf("\n");
+
+        int t02a = srf02.readTransitTime_us();
+        int t08 = srf08.readTransitTime_us();
+        int ok = srf02.triggerRanging();
+        Thread::wait(100);
+        int t02b = srf02.readTransitTime_us();
+        int dmin = srf02.readMinimalDistance_mm();
+        int t02c = t02a-(t2-t1);
+        printf("      dt08m=%d d02m=%d d02c=%d dt02mc=%d ds0208=%d     dmin=%d\n",
+               Srf0208IF::time2dist_us2mm(t08),
+               Srf0208IF::time2dist_us2mm(t02b),
+               Srf0208IF::time2dist_us2mm(t02c)-130,
+               Srf0208IF::time2dist_us2mm(t02b-t02c),
+               Srf0208IF::time2dist_us2mm(t08-t02b),
+               dmin);
+        Thread::wait(100);
+        /*
+        srf08.triggerANNRanging();
+        Thread::wait(100);
+        srf08.burstRead();
+        printf("d=%d   ",srf08.getDistanceFromRawBuffer_mm(0));
+        const int slots=32;
+        for(int i=0; i<slots; ++i) printf("%d ",srf08.getANNSlotDataFromRawBuffer(i));
+        printf("\n");
+        */
+        Thread::wait(100);
+    }
+}
\ No newline at end of file