SRF02 driver, new functionality.

RIOT-OS · Sep 26, 2013 · 8e7b9cd · 8e7b9cd
1 parent 3f539ee
commit 8e7b9cd
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Showing 2 changed files with 36 additions and 4 deletions.
diff --git a/drivers/include/srf02-ultrasonic-sensor.h b/drivers/include/srf02-ultrasonic-sensor.h
@@ -39,6 +39,7 @@
 #define SRF02_FAKE_RANGING_MODE_CM          0x57
 #define SRF02_FAKE_RANGING_MODE_MICRO_SEC   0x58
 
+
 /* Define the used I2C Interface */
 //#define SRF02_I2C_INTERFACE I2C0     // P0.27 SDA0, P0.28 SCL0
 //#define SRF02_I2C_INTERFACE I2C1_0   // P0.0  SDA1, P0.1  SCL1
@@ -62,6 +63,7 @@
 bool srf02_init(uint8_t i2c_interface, uint32_t baud_rate);
 
 
+
 /**
  * @brief       Get the distance measured from the SRF02 ultrasonic sensor.
  *              The result of a ranging can be returned in inches,

diff --git a/drivers/srf02/srf02-ultrasonic-sensor.c b/drivers/srf02/srf02-ultrasonic-sensor.c
@@ -55,14 +55,44 @@ uint32_t srf02_get_distance(uint8_t ranging_mode)
     uint8_t reg_size = 1;
     uint8_t range_high_byte = 0;
     uint8_t range_low_byte = 0;
-    uint32_t distance = 0;
     uint8_t rx_buff[reg_size];
     uint8_t tx_buff[reg_size];
-    tx_buff[0] = SRF02_REAL_RANGING_MODE_CM;
+    uint32_t distance = 0;
+
+    tx_buff[0] = ranging_mode;
+    status = i2c_write(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
+	                           SRF02_COMMAND_REG, tx_buff, reg_size);
+
+	        if (!status) {
+	            puts("Write the ranging command to the i2c-interface is failed");
+	            distance = UINT32_MAX;
+	            return distance;
+	        }
+
+	        hwtimer_wait(HWTIMER_TICKS(65000));
+	        status = i2c_read(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
+	                          SRF02_RANGE_HIGH_BYTE, rx_buff, reg_size);
+	        if (!status) {
+	            puts("Read the distance from the i2c-interface is failed");
+	            distance = UINT32_MAX;
+	            return distance;
+	        }
+	        range_high_byte = rx_buff[0];
+
+	        status = i2c_read(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
+	                          SRF02_RANGE_LOW_BYTE, rx_buff, reg_size);
+	        range_low_byte = rx_buff[0];
+
+	        distance = (range_high_byte << 8) | range_low_byte;
+	        //printf("%u | %u\n", range_high_byte, range_low_byte);
+	        return distance;
+}
+
+void srf02_start_ranging(uint16_t ranging_mode)
+{
+   uint32_t distance = 0;
 
     while (1) {
-        status = i2c_write(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
-                           SRF02_COMMAND_REG, tx_buff, reg_size);
 
         distance = srf02_get_distance(ranging_mode);