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removed outdated code ( still using the old avr spi interface )

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This commit is contained in:
Antoine Drouin
2009-07-15 10:12:16 +00:00
parent 1e9e4128e5
commit 38de015a69
2 changed files with 0 additions and 252 deletions
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sw/airborne/srf08.c
-135
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@@ -1,135 +0,0 @@
/*
* $Id$
*
* 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_ap.h"
#include "srf08.h"
uint16_t srf08_range;
/* Global Variables */
static unsigned char address=SRF08_UNIT_0;
static bool_t dummy_bool;
/*###########################################################################*/
void srf08_init(void)
{
unsigned int range=0;
i2c0_init();
I2C_START_TX(address);
i2c0_transmit(0);
i2c0_transmit(0x51);
do{
i2c0_start();
range=i2c_sla(address);
i2c0_stop();
} while(range != I2C_NO_ERROR); /** !!!!!!!!!!!! WARNING : blocking wait */
/** Setting the gain to the minimun value (to avoid echos ?) */
i2c0_buf[0]=SRF08_SET_GAIN;
i2c0_buf[1]=SRF08_MIN_GAIN;
i2c0_send(address, 2, &dummy_bool);
return;
}
/*###########################################################################*/
void srf08_initiate_ranging(void) {
i2c0_buf[0]=SRF08_COMMAND;
i2c0_buf[1]=SRF08_CENTIMETERS;
i2c0_send(address, 2, &dummy_bool);
}
bool_t srf08_received, srf08_got;
/** Ask the value to the device */
void srf08_receive(void) {
i2c0_buf[0]=SRF08_ECHO_1;
srf08_received = FALSE;
i2c0_send(address, 1, &srf08_received);
}
/** Read values on the bus */
void srf08_read(void) {
srf08_got = FALSE;
i2c0_get(address, 2, &srf08_got);
}
/** Copy the I2C buffer */
void srf08_copy(void) {
srf08_range = i2c0_buf[0] << 8 | i2c0_buf[1];
}
void srf08_ping()
{
uint8_t byte;
srf08_initiate_ranging();
while (!i2c0_idle);
do {
i2c0_start();
byte=i2c_sla(address);
i2c0_stop();
} while(byte != I2C_NO_ERROR);
srf08_receive();
}
/*###########################################################################*/
unsigned int srf08_read_register(unsigned char srf08_register)
{
union i2c_union {
unsigned int rx_word;
unsigned char rx_byte[2];
} i2c;
I2C_START_TX(address);
i2c0_transmit(srf08_register);
I2C_START_RX(address);
/* get high byte msb first */
if(srf08_register>=2) {
i2c.rx_byte[1]=i2c0_receive(I2C_CONTINUE);
}
/* get low byte msb first */
i2c.rx_byte[0]=i2c0_receive(I2C_QUIT);
i2c0_stop();
return(i2c.rx_word);
}
sw/airborne/srf08.h
-117
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/*
* $Id$
*
* 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(unsigned char srf08_address);
extern void srf08_init(void);
extern void srf08_set_gain(unsigned char gain);
extern void srf08_set_range(unsigned int millimeters);
extern void srf08_ping(void);
extern uint16_t srf08_read_register(unsigned char srf08_register);
extern void srf08_change_i2c_address(unsigned char 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);
#endif /* #ifndef SRF08_H */