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srf08 telemeter, a good example for delay=""

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This commit is contained in:
Martin Mueller
2010-10-21 17:51:40 +00:00
parent b11a09e4d8
commit 38120e1b4e
5 changed files with 292 additions and 36 deletions
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conf/airframes/mm/fixed-wing/funjetmm.xml
+5 -3
View File
@@ -24,6 +24,7 @@
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="USE_I2C0"/>
</target>
<subsystem name="radio_control" type="ppm"/>
@@ -41,7 +42,7 @@
<param name="GPS_BAUD" value="B38400"/>
</subsystem>
<subsystem name="navigation"/>
<subsystem name="spi"/>
<subsystem name="i2c"/>
</firmware>
<firmware name="setup">
@@ -54,8 +55,9 @@
<!-- modules -->
<modules>
<load name="baro_MS5534A.xml"/>
<!--load name="baro_bmp.xml"/>
<load name="alt_srf08.xml"/>
<!--load name="baro_MS5534A.xml"/>
<load name="baro_bmp.xml"/>
<load name="baro_scp_i2c.xml"/>
<load name="light_temt.xml"/>
<load name="humid_hih.xml"/>
conf/modules/alt_srf08.xml
+17
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@@ -0,0 +1,17 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="alt_srf08" dir="sensors">
<header>
<file name="alt_srf08.h"/>
</header>
<init fun="srf08_init()"/>
<periodic fun="srf08_initiate_ranging()" freq="1"/>
<!-- 65ms since initiate_ranging() (the spec ask for 65ms),
delay="4", 60Hz, 4x 16.7ms = 66.7ms -->
<periodic fun="srf08_receive()" freq="1" delay="4"/>
<event fun="srf08_event"/>
<makefile>
<file name="alt_srf08.c"/>
<flag name="TELEMETER"/>
</makefile>
</module>
sw/airborne/main_ap.c
-33
View File
@@ -75,10 +75,6 @@
#include "airspeed.h"
#endif
#ifdef TELEMETER
#include "srf08.h"
#endif
#if defined USE_I2C0 || USE_I2C1
#include "i2c.h"
#endif
@@ -87,10 +83,6 @@
#include "spi.h"
#endif
#ifdef TELEMETER
#include "srf08.h"
#endif
#ifdef TRAFFIC_INFO
#include "traffic_info.h"
#endif
@@ -446,15 +438,6 @@ void periodic_task_ap( void ) {
kill_throttle |= launch && (dist2_to_home > Square(KILL_MODE_DISTANCE));
}
switch (_1Hz) {
#ifdef TELEMETER
case 1:
srf08_initiate_ranging();
break;
case 5:
/** 65ms since initiate_ranging() (the spec ask for 65ms) */
srf08_receive();
break;
#endif
#ifdef TCAS
case 6:
@@ -612,9 +595,6 @@ void init_ap( void ) {
#ifdef GPS
gps_init();
#endif
#ifdef TELEMETER
srf08_init();
#endif
#ifdef USE_UART0
Uart0Init();
#endif
@@ -809,19 +789,6 @@ void event_task_ap( void ) {
}
#endif /** DATALINK */
#ifdef TELEMETER
/** Handling of data sent by the device (initiated by srf08_receive() */
if (srf08_received) {
srf08_received = FALSE;
srf08_read();
}
if (srf08_got) {
srf08_got = FALSE;
srf08_copy();
DOWNLINK_SEND_RANGEFINDER(DefaultChannel, &srf08_range);
}
#endif
#ifdef MCU_SPI_LINK
if (spi_message_received) {
/* Got a message on SPI. */
sw/airborne/modules/sensors/alt_srf08.c
+151
View File
@@ -0,0 +1,151 @@
/*
* $Id$
*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
* Copyright (C) 2002 Chris efstathiou hendrix@otenet.gr
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file srf08.c
* \brief Basic library for SRF08 telemeter
*
*/
#include "i2c.h"
#include "alt_srf08.h"
#include "uart.h"
#include "messages.h"
#include "downlink.h"
#include "led.h"
#ifndef SRF08_I2C_DEV
#define SRF08_I2C_DEV i2c0
#endif
/* Global Variables */
bool_t srf08_received, srf08_got;
struct i2c_transaction srf_trans;
uint16_t srf08_range;
/*###########################################################################*/
void srf08_init(void)
{
srf08_received = FALSE;
srf08_got = FALSE;
srf_trans.buf[0] = 0x00;
srf_trans.buf[1] = 0x51;
I2CTransmit(SRF08_I2C_DEV, srf_trans, SRF08_UNIT_0, 2);
/** Setting the gain to the minimun value (to avoid echos ?) */
srf_trans.buf[0] = SRF08_SET_GAIN;
srf_trans.buf[1] = SRF08_MIN_GAIN;
I2CTransmit(SRF08_I2C_DEV, srf_trans, SRF08_UNIT_0, 2);
return;
}
/*###########################################################################*/
void srf08_initiate_ranging(void) {
LED_ON(2);
srf_trans.buf[0] = SRF08_COMMAND;
srf_trans.buf[1] = SRF08_CENTIMETERS;
I2CTransmit(SRF08_I2C_DEV, srf_trans, SRF08_UNIT_0, 2);
}
/** Ask the value to the device */
void srf08_receive(void) {
LED_OFF(2);
srf_trans.buf[0] = SRF08_ECHO_1;
srf08_received = TRUE;
I2CTransmit(SRF08_I2C_DEV, srf_trans, SRF08_UNIT_0, 1);
}
/** Read values on the bus */
void srf08_read(void) {
srf08_got = TRUE;
I2CReceive(SRF08_I2C_DEV, srf_trans, SRF08_UNIT_0, 2);
}
/** Copy the I2C buffer */
void srf08_copy(void) {
srf08_range = srf_trans.buf[0] << 8 | srf_trans.buf[1];
}
void srf08_ping()
{
srf08_initiate_ranging();
while (srf_trans.status != I2CTransSuccess); /* blocking */
srf08_receive();
}
/*###########################################################################*/
uint32_t srf08_read_register(uint8_t srf08_register)
{
uint8_t cnt;
union i2c_union {
uint32_t rx_word;
uint8_t rx_byte[2];
} i2c;
srf_trans.buf[0] = srf08_register;
/* get high byte msb first */
if (srf08_register>=2)
cnt = 2;
else
cnt = 1;
I2CTransceive(SRF08_I2C_DEV, srf_trans, SRF08_UNIT_0, 1, cnt);
/* get high byte msb first */
if(srf08_register>=2) {
i2c.rx_byte[1]=srf_trans.buf[1];
}
/* get low byte msb first */
i2c.rx_byte[0]=srf_trans.buf[0];
return(i2c.rx_word);
}
void srf08_event(void)
{
float f=0;
uint8_t i=0;
/** Handling of data sent by the device (initiated by srf08_receive() */
if (srf_trans.status == I2CTransSuccess) {
if (srf08_received) {
srf08_received = FALSE;
srf08_read();
}
else if (srf08_got) {
srf08_got = FALSE;
srf08_copy();
DOWNLINK_SEND_RANGEFINDER(DefaultChannel, &srf08_range, &f, &f, &f, &f, &f, &i);
}
}
}
sw/airborne/modules/sensors/alt_srf08.h
+119
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@@ -0,0 +1,119 @@
/*
* $Id$
*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
* Copyright (C) 2002 Chris efstathiou hendrix@otenet.gr
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file srf08.h
* \brief Basic library for SRF08 telemeter
*
*/
#ifndef SRF08_H
#define SRF08_H 1
/*###########################################################################*/
/* START OF CONFIGURATION BLOCK */
/*###########################################################################*/
/* Normally you shouldn't need to change anything */
#define SRF08_UNIT_0 0xE0 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_1 0xE2 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_2 0xE4 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_3 0xE6 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_4 0xE8 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_5 0xEA /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_6 0xEC /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_7 0xEE /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_8 0xF0 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_9 0xF2 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_10 0xF4 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_11 0xF6 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_12 0xF8 /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_13 0xFA /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_14 0xFC /* the SRF08 MODULE I2C address */
#define SRF08_UNIT_15 0xFE /* the SRF08 MODULE I2C address */
/*###########################################################################*/
/* END OF CONFIGURATION BLOCK */
/*###########################################################################*/
#define SRF08_I2C_BROADCAST_ADDRESS 0X00
#define SRF08_MIN_GAIN 0 /* sets gain to 94 */
#define SRF08_MAX_GAIN 31 /* sets gain to 1025 */
#define SRF08_MIN_RANGE 0 /* in millimeters */
#define SRF08_MAX_RANGE 11008 /* in millimeters */
#define SRF08_INCHES 0X50
#define SRF08_CENTIMETERS 0X51
#define SRF08_MICROSECONDS 0X52
/* register positions */
#define SRF08_COMMAND 0
#define SRF08_SET_GAIN 1
#define SRF08_LIGHT 1
#define SRF08_ECHO_1 2
#define SRF08_ECHO_2 4
#define SRF08_ECHO_3 6
#define SRF08_ECHO_4 8
#define SRF08_ECHO_5 10
#define SRF08_ECHO_6 12
#define SRF08_ECHO_7 14
#define SRF08_ECHO_8 16
#define SRF08_ECHO_9 18
#define SRF08_ECHO_10 20
#define SRF08_ECHO_11 22
#define SRF08_ECHO_12 24
#define SRF08_ECHO_13 26
#define SRF08_ECHO_14 28
#define SRF08_ECHO_15 30
#define SRF08_ECHO_16 32
#define SRF08_ECHO_17 34
/* Function Declaration */
extern void srf08_select_unit(uint8_t srf08_address);
extern void srf08_init(void);
extern void srf08_set_gain(uint8_t gain);
extern void srf08_set_range(uint32_t millimeters);
extern void srf08_ping(void);
extern uint32_t srf08_read_register(uint8_t srf08_register);
extern void srf08_change_i2c_address(uint8_t new_i2c_address);
extern void srf08_initiate_ranging(void);
extern void srf08_receive(void);
extern uint16_t srf08_range;
extern bool_t srf08_received, srf08_got;
/** Read values on the bus */
extern void srf08_read(void);
/** Copy the I2C buffer */
extern void srf08_copy(void);
extern void srf08_event(void);
#endif /* #ifndef SRF08_H */