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

Files at this revision

API Documentation at this revision

Comitter:
humlet
Date:
Sat Jun 01 07:40:00 2013 +0000
Parent:
2:dfc8b09b4e3b
Commit message:
commitNpublish

Changed in this revision

Srf0208IF.cpp Show annotated file Show diff for this revision Revisions of this file
Srf0208IF.h Show annotated file Show diff for this revision Revisions of this file
Srf0208IFTest01.h Show annotated file Show diff for this revision Revisions of this file
Srf0208IFTest02.h Show annotated file Show diff for this revision Revisions of this file
--- 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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