MAKE_SHARP_ENTRY( 50,322,294),
MAKE_SHARP_ENTRY( 56,288,260),
MAKE_SHARP_ENTRY( 62,255,233),
MAKE_SHARP_ENTRY( 69,229,207),
MAKE_SHARP_ENTRY( 77,204,184),
MAKE_SHARP_ENTRY( 85,181,165),
MAKE_SHARP_ENTRY( 94,163,148),
MAKE_SHARP_ENTRY(104,146,133),
MAKE_SHARP_ENTRY(115,131,119),
MAKE_SHARP_ENTRY(127,118,107),
MAKE_SHARP_ENTRY(135,106,100),
MAKE_SHARP_ENTRY(255, DISTANCE_MAX, DISTANCE_MAX)
};
// Read all the values and store into the device
static void __GP2Y0A700K0F_read(SENSOR* sensor){
Sharp_GP2Y0A700K0F* device = (Sharp_GP2Y0A700K0F*)sensor;
// uint16_t adc = a2dConvert10bit(device->adcPin);
// device->distance.cm = 94407.0 * pow(adc,-1.0891);
// uint16_t adc = a2dReadMv(device->adcPin);
// device->distance.cm = 531492.0 * pow(adc,-1.0891);
device->distance.cm = _gp2_read(device->adcPin, &myTable[0], _ENTS_);
}
const DISTANCE_CLASS PROGMEM c_Sharp_GP2Y0A700K0F = MAKE_DISTANCE_CLASS(null,&__GP2Y0A700K0F_read,0,0);
*
*
*/
#include "PingSonar.h"
#include "../../../fraction.h"
// 0.0172212
static const uint16_t PROGMEM ping_frac[] = {0, 59, 3676, 0};
// Read all the values and store into the device
static void __ping_read(SENSOR* sensor){
TICK_COUNT duration;
PingSonar* device = (PingSonar*)sensor;
// 5 us Trigger Pulse
pin_pulseOut(device->ioPin,5,TRUE);
// Measure the inbound pulse
duration = pin_pulseIn(device->ioPin,TRUE);
device->distance.cm = fraction32(duration, ping_frac);
// device->distance.cm = duration;
}
// Requires a 200us (so say 1ms) delay between readings
const DISTANCE_CLASS PROGMEM c_PingSonar = MAKE_DISTANCE_CLASS(null,&__ping_read,0,1);
*
*
*/
#include "PingSonar.h"
#include "../../../fraction.h"
// 0.0172212
static const uint16_t PROGMEM ping_frac[] = {0, 59, 3676, 0};
// Read all the values and store into the device
static void __ping_read(SENSOR* sensor){
TICK_COUNT duration;
PingSonar* device = (PingSonar*)sensor;
// 5 us Trigger Pulse
pin_pulseOut(device->ioPin,5,TRUE);
// Measure the inbound pulse
duration = pin_pulseIn(device->ioPin,TRUE);
device->distance.cm = fraction32(duration, ping_frac);
// device->distance.cm = duration;
}
// Requires a 200us (so say 1ms) delay between readings
DISTANCE_CLASS const c_PingSonar = MAKE_DISTANCE_CLASS(null,&__ping_read,0,1);
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*
* File: MB7077.c
* Created on: 19 Jun 2010
* Author: Clive Webster
*/
#include "MB7077.h"
#include "../../../fraction.h"
// 4.3 as a fraction
static const uint16_t PROGMEM _frac[] = {4, 4, 20, 0};
// Read all the values and store into the device
static void _read(SENSOR* sensor){
Maxbotix_MB7077* sonar = (Maxbotix_MB7077*)sensor;
uint16_t adc = a2dConvert10bit(sonar->adcPin);
if(sonar->inWater){
// Multiply by 4.3
adc = fraction32(adc,_frac);
}
sonar->distance.cm = adc;
}
const DISTANCE_CLASS PROGMEM c_Maxbotix_MB7077 = MAKE_DISTANCE_CLASS(null,&_read,0,0);
*/
#include "SRF04_Sonar.h"
#include "../../../fraction.h"
// 0.0172212
static const uint16_t PROGMEM srf04_frac[] = {0, 59, 3676, 0};
// Read all the values and store into the device
static void __srf04_read(SENSOR* sensor){
TICK_COUNT duration;
Devantech_SRF04* device = (Devantech_SRF04*)sensor;
// initialise the pins
pin_make_output(device->out,FALSE); // Set low
pin_make_input(device->in,FALSE);
// 10us high trigger pulse
pin_pulseOut(device->out,10,TRUE);
// Measure the inbound pulse
duration = pin_pulseIn(device->in,TRUE);
device->distance.cm = fraction32(duration, srf04_frac);
}
// Requires a 50ms delay between readings
DISTANCE_CLASS const c_Devantech_SRF04 = MAKE_DISTANCE_CLASS(null,&__srf04_read,0,50);
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*
*
* GP2Y0A710K0F.c
*
* Created on: 29-Jan-2010
* Author: Clive Webster
*/
#include "GP2.h"
// Requires the floating point library
#include <math.h>
#include "../../../a2d.h"
// Read all the values and store into the device
static void __GP2Y0A710K0F_read(SENSOR* sensor){
Sharp_GP2Y0A710K0F* device = (Sharp_GP2Y0A710K0F*)sensor;
// uint16_t adc = a2dConvert10bit(device->adcPin);
// device->distance.cm = 500000000.0 * pow(adc,-2.4723);
uint16_t adc = a2dReadMv(device->adcPin);
device->distance.cm = 25270743335.99 * pow(adc,-2.4723);
}
DISTANCE_CLASS const c_Sharp_GP2Y0A710K0F = MAKE_DISTANCE_CLASS(null,&__GP2Y0A710K0F_read,0,0);
if(device) {
uint8_t response[4];
const I2C_DEVICE* i2c = &(device->i2cInfo);
// Read registers 0,1,2,3
while(i2cMasterReadRegisters(i2c, 0, sizeof(response), response)) {
if(response[0]!=255) {
// Ranging has finished
DISTANCE_TYPE val = response[2]; // get high byte
val = (val << 8) | response[3]; // put in low byte
device->distance.cm = val;
device->ldr = response[1]; // Store the light level
break;
}
}
}
}
// Read all the values and store into the device
static void __srf08_read(SENSOR* sensor) {
Devantech_SRF08* device = (Devantech_SRF08*)sensor;
if(startReading(device)) {
getReading(device);
}
}
// Requires a 70ms delay between readings
DISTANCE_CLASS c_Devantech_SRF08 = MAKE_DISTANCE_CLASS(null,&__srf08_read,0,70);
