srf08.h
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1 /*
2  * Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
3  *
4  * This file is subject to the terms and conditions of the GNU Lesser General
5  * Public License v2.1. See the file LICENSE in the top level directory for more
6  * details.
7  */
8 
28 #ifndef SRF08_H
29 #define SRF08_H
30 
31 #include <stdint.h>
32 #include "periph/i2c.h"
33 
34 #ifdef __cplusplus
35 extern "C" {
36 #endif
37 
39 #define SRF08_DEFAULT_ADDR 112
40 
42 #define SRF08_COMMAND_REG 0x0
43 
45 #define SRF08_GAIN_REG 0x1
46 
48 #define SRF08_RANGE_REG 0x2
49 
51 #define SRF08_RANGE_HIGH_BYTE 0x2
52 
54 #define SRF08_RANGE_LOW_BYTE 0x3
55 
57 #define SRF08_MAX_REGISTER_NUMBER 35
58 
60 #define SRF08_MAX_ECHO_NUMBER 17
61 
63 #define SRF08_MAX_RANGE_6M 0x8C
64 
66 #define SRF08_MAX_GAIN 0x1F
67 
71 typedef struct {
73  uint8_t addr;
74 } srf08_t;
75 
79 typedef enum {
80  SRF08_MODE_INCH = 0x50,
81  SRF08_MODE_CM = 0x51,
87 
100 int srf08_init(srf08_t *dev, i2c_t i2c, uint8_t addr);
101 
114 int srf08_set_max_range(const srf08_t *dev, uint8_t max_range);
115 
131 int srf08_set_max_gain(const srf08_t *dev, uint8_t max_gain);
132 
155 int srf08_get_distances(const srf08_t *dev,
156  uint16_t *range_array,
157  int num_echos,
158  srf08_mode_t ranging_mode);
159 
160 #ifdef __cplusplus
161 }
162 #endif
163 
165 #endif /* SRF08_H */
result in centimeters
Definition: srf08.h:82
synchronous measurement in us
Definition: srf08.h:85
unsigned int i2c_t
Default i2c_t type definition.
Definition: i2c.h:157
int srf08_set_max_range(const srf08_t *dev, uint8_t max_range)
Set the maximum range of the SRF08.
synchronous measurement in cm
Definition: srf08.h:84
int srf08_init(srf08_t *dev, i2c_t i2c, uint8_t addr)
Initialize the SRF08 ultrasonic sensor.
synchronous measurement in inch
Definition: srf08.h:83
result in centimeters
Definition: srf08.h:81
srf08_mode_t
Possible measurement modes for the SRF08 sensor.
Definition: srf08.h:79
Device descriptor for SRF08 sensors.
Definition: srf08.h:71
int srf08_set_max_gain(const srf08_t *dev, uint8_t max_gain)
Set the maximum of the analog stages.
result in inches
Definition: srf08.h:80
i2c_t i2c
I2C device the sensor is connected to.
Definition: srf08.h:72
int srf08_get_distances(const srf08_t *dev, uint16_t *range_array, int num_echos, srf08_mode_t ranging_mode)
Get all distances measured from the SRF08 ultrasonic sensor.
uint8_t addr
I2C bus address of the sensor.
Definition: srf08.h:73
Low-level I2C peripheral driver interface definition.