Revision 3:70c946ba29cc, committed 2013-06-01

Comitter:

humlet

Date:

Sat Jun 01 07:40:00 2013 +0000

Parent:

2:dfc8b09b4e3b

Commit message:

commitNpublish

Changed in this revision

--- a/Srf0208IF.cpp	Sun May 26 20:52:27 2013 +0000
+++ b/Srf0208IF.cpp	Sat Jun 01 07:40:00 2013 +0000
@@ -2,10 +2,8 @@
 #include "Thread.h"
 #include "I2CMasterRtos.h"
 
-#include "mbed.h"
-
 using namespace mbed;
-using namespace rtos;
+using namespace rtos; 
 
 bool Srf0208IF::triggerRanging()
 {
@@ -16,7 +14,6 @@
 {
     char result[2];
     bool ok = !m_i2c.read(m_adr, 0x02, result, 2);
-    printf("%d %d \n",result[0],result[1]);
     return ok ? twoByte2int(result) : -1;
 }
 void Srf0208IF::resetI2CAdress(int newAddress)

--- a/Srf0208IF.h	Sun May 26 20:52:27 2013 +0000
+++ b/Srf0208IF.h	Sat Jun 01 07:40:00 2013 +0000
@@ -18,26 +18,26 @@
     
     /// little helper that translates two raw bytes into a word
     static int twoByte2int(const char* data){
-        return ((static_cast<uint16_t>(*(data)))<<8) | static_cast<uint16_t>(*(data+1));
+        return ((static_cast<int>(*(data)))<<8) | static_cast<int>(*(data+1));
     }
     /// little helper that translates the us transit time into a distance in mm
     static int time2dist_us2mm(int us){
-        return us!=-1 ? (us*sonicSpeed)>>1 : us;       
+        return us!=-1 ? (us*sonicSpeed)>>11 : -1;  
     }
 
 
-    /// sonic speed in m/s @ 21°C  ...  c=(331.5+0.6*T/°C)m/s
-    /// To calculate the distance in mm: Multiply the µs measurement with this constant and divide by 2
+    /// sonic speed in m/s @ 21C  ...  c=(331.5+0.6*T/C)m/s
+    /// To calculate the distance in mm: Multiply the us measurement with this constant and divide by 2
     static const int sonicSpeed = 344;
 
     /// The constructor
     Srf0208IF(int adr, I2CMasterRtos& i2c): m_adr(adr), m_i2c(i2c){};
 
-    /// Trigger ranging. Result can be read back after 66ms via triggerEchoMeasurement()
+    /// Trigger ranging. Result can be read back after 66ms via triggerEchoMeasurement().
     /// @return true on success
     bool triggerRanging();
     
-    /// Read back measured transit time in µs of the last triggerRanging() or triggerEchoMeasurement() request.
+    /// Read back measured transit time in us of the last triggerRanging() or triggerEchoMeasurement() request.
     /// Depending on the distance the Measurement takes up to 66ms.
     /// @return -1 on error
     int readTransitTime_us();
@@ -49,21 +49,21 @@
         return time2dist_us2mm(readTransitTime_us());
     };
 
-    /// Assign a new adress to the SRF ranger device. Available 8bit addresses: E0, E2, E4 ... FE
+    /// Assign a new adress to the SRF ranger device. Available 8bit addresses: E0, E2, E4 ... FE. 
     /// Ensure that only one SRF device is connected to the bus
     void resetI2CAdress(int newAddress);
 
-    /// Reads the SRF's SW revision
+    /// Reads the SRF's SW revision.
     /// @return -1 on error
     int readSWRevision();
 
-    /// Returns true if ranging is done
+    /// Returns true if ranging is done.
     bool rangingCompleted(){
         return readSWRevision()!=-1;
     }
 };
 
-/// Provides special features of the SRF02
+/// Provides an interface to special features of the SRF02
 class Srf02IF : public Srf0208IF
 {
 public:
@@ -71,19 +71,19 @@
     /// The constructor
     Srf02IF(int adr, I2CMasterRtos& i2c):Srf0208IF(adr,i2c){};
 
-    /// Just send a ping
+    /// Just send a ping.
     /// @return true on success
     bool triggerPing();
 
-    /// Just wait for an echo and measure the time
-    /// Result can be read back after 66ms via triggerEchoMeasurement()
+    /// Just wait for an echo and measure the time.
+    /// Result can be read back after 66ms via triggerEchoMeasurement().
     /// @return true on success
     bool triggerEchoMeasurement();
 
-    /// Read current minimum range from srf02
+    /// Read current minimum range from srf02.
     int readMinimalTransitTime_us();
     
-    /// Read current minimum range from srf02
+    /// Read current minimum range from srf02.
     int readMinimalDistance_mm(){
         return time2dist_us2mm(readMinimalTransitTime_us());
     }
@@ -100,7 +100,7 @@
     /// The constructor
     Srf08IF(int adr, I2CMasterRtos& i2c):Srf0208IF(adr,i2c){};
 
-    /// read light sensor measurement
+    /// read light sensor measurement.
     /// @return -1 on error
     int readBrightness();
 
@@ -109,19 +109,19 @@
     bool triggerANNRanging();
 
     /// Set maximum distance. Use to reduce measurement time.
-    /// @param maxDst maximum distance 0..0xff  (1+maxDst)*43mm  =>  43mm..11m / 3ms..64ms
+    /// @param maxDst maximum distance 0..0xff  (1+maxDst)*43mm  =>  43mm..11m / 3ms..64ms.
     /// @return true on success
     bool writeMaxDist(int maxDst);
 
     /// Set/Limit maximum gain. Use to suppress roving echos from previous measurements.
     /// Necessary at mesurement rates higher than 1/66ms=15Hz.
-    /// During measurement the analog signal amplification is increased every 70µs until
+    /// During measurement the analog signal amplification is increased every 70us until
     /// the maximum gain is reached after 31 steps at ~390mm.
     /// @param maxGain 0..31 / 0x0..0x1f  =>magic non linear function=> 94..1025 (see SRF08 docu)
     /// @return true on success
     bool writeMaxGain(int maxGain);
 
-    /// Get transit time (µs) of n'th echo from internal buffer.
+    /// Get transit time (us) of n'th echo from internal buffer.
     /// Call burstRead() before!
     /// @param echoIdx 0..16
     int getTransitTimeFromRawBuffer_us(int echoIdx) const {
@@ -142,12 +142,12 @@
     }
     /// Get ANN data from internal buffer
     /// Call burstRead() before!
-    /// Each slot is 2048µs/353mm wide.
+    /// Each slot is 2048us/353mm wide.
     /// @param slotIdx slot 0..31
     int getANNSlotDataFromRawBuffer(int slotIdx) const {
         return (static_cast<int>(m_rawBuffer[slotIdx+4]));
     }
-    /// Reads all data from start to stop register in one go and store it in class internal buffer.
+    /// Reads all data from start to stop register in one go and stores it in a class internal buffer. See getXXXXXFromRawBuffer_us() functions.
     /// - reg 0x00: SW Revision
     /// - reg 0x01: light sensor (SRF08 only)
     /// - reg 0x02+0x03: range high+low byte

--- a/Srf0208IFTest01.h	Sun May 26 20:52:27 2013 +0000
+++ b/Srf0208IFTest01.h	Sat Jun 01 07:40:00 2013 +0000
@@ -1,3 +1,6 @@
+// attempt to realize a triangulation using one srf08 (sender) and two srf02 (additional receivers)
+// Does not work yet ... doubt that it will ever work 
+
 #include "Srf0208IF.h"
 #include "I2CMasterRtos.h"
 #include "Serial.h"
@@ -10,7 +13,7 @@
 
 Serial pc(USBTX, USBRX);
 
-I2CMasterRtos i2c(p28, p27,400000);
+I2CMasterRtos i2c(p28, p27,100000);
 
 Srf08IF mid(0xe0,i2c);
 Srf02IF right(0xe2,i2c);

--- /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);
+    }
+}
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