/*AP_RangeFinder_SRF04::AP_RangeFinder_SRF04(const AP_HAL::GPIO *gpio):_gpio(gpio)
{
}*/
AP_RangeFinder_SRF04::AP_RangeFinder_SRF04(AP_HAL::DigitalSource *trigger,AP_HAL::DigitalSource *echo, AP_HAL::Scheduler* sched):
_trigger(trigger),_echo(echo),_sched(sched)
{
max_distance = 3000;
min_distance = 10;
setAveraging(10);
begin();
}
/// Begin variables
/// - int _distancePin: number indicating the distance to an object: ANALOG IN
/// When you use begin() without parameters standard values are loaded: A0
void AnalogDistanceSensor::begin(int distancePin)
{
pinMode(distancePin, INPUT);
_distancePin=distancePin;
setAveraging(1); //1: all samples passed to higher level
setARefVoltage(5); // 5: default analog reference of 5 volts (on 5V Arduino boards) or 3.3 volts (on 3.3V Arduino boards)
//setARefVoltage(3); // external analog reference: for 3.3V: put a wire between the AREF pin and the 3.3V VCC pin.
//This increases accuracy (and uses a different LUT)
}
/// <summary>
/// Begin variables
/// - int _distancePin: number indicating the distance to an object: ANALOG IN
/// - int _transferFunctionLUT3V: Transfer function Lookup Table (for 3.3V reference value)
/// - int _transferFunctionLUT5V: Transfer function Lookup Table (for 5V reference value)
/// When you use begin() without variables standard values are loaded: A0
/// </summary>
void
DistanceGP2Y0A21YK::begin(int distancePin)
{
pinMode(distancePin, INPUT);
_distancePin=distancePin;
setAveraging(100); //1: all samples passed to higher level
setARefVoltage(5); // 5 default situation
//setARefVoltage(3); // 3.3V: put a wire between the AREF pin and the 3.3V VCC pin.
//This increases accuracy (and uses a different LUT)
}
/// <summary>
/// Begin variables
/// - int trigPin: pin used to activate the sensor
/// - int echoPin: pin used to read the reflection
/// </summary>
void AP_RangeFinder_SRF04::begin(int echoPin, int trigPin)
{
//_gpio->channel(trigPin+54);
// _gpio->chanel(echoPin+54);
_trigPin=trigPin;
_echoPin=echoPin;
//pinMode(_trigPin, OUTPUT);
//pinMode(_echoPin, INPUT);
setAveraging(1); //1: all samples passed to higher level
}
/* Initialize stuff:
* - Start Vref module
* - Clear all fail flags
* - Internal reference (default: external vcc)
* - Mux between a and b channels (b channels)
* - Calibrate with 32 averages and low speed
* - When first calibration is done it sets:
* - Resolution (default: 10 bits)
* - Conversion speed and sampling time (both set to medium speed)
* - Averaging (set to 4)
*/
void ADC_Module::analog_init() {
// default settings:
/*
- 10 bits resolution
- 4 averages
- vcc reference
- no interrupts
- pga gain=1
- conversion speed = medium
- sampling speed = medium
initiate to 0 (or 1) so the corresponding functions change it to the correct value
*/
analog_res_bits = 0;
analog_max_val = 0;
analog_num_average = 0;
analog_reference_internal = 1;
var_enableInterrupts = 0;
pga_value = 1;
conversion_speed = 0;
sampling_speed = 0;
// the first calibration will use 32 averages and lowest speed,
// when this calibration is over the averages and speed will be set to default by wait_for_cal and init_calib will be cleared.
init_calib = 1;
fail_flag = ADC_ERROR_CLEAR; // clear all errors
// Internal reference initialization
VREF_TRM = VREF_TRM_CHOPEN | 0x20; // enable module and set the trimmer to medium (max=0x3F=63)
VREF_SC = VREF_SC_VREFEN | VREF_SC_REGEN | VREF_SC_ICOMPEN | VREF_SC_MODE_LV(1); // (=0xE1) enable 1.2 volt ref with all compensations
// select b channels
*ADC_CFG2_muxsel = 1;
// set reference to vcc/external
setReference(ADC_REF_EXTERNAL);
// set resolution to 10
setResolution(10);
// calibrate at low speed and max repetitions
setAveraging(32);
setConversionSpeed(ADC_LOW_SPEED);
setSamplingSpeed(ADC_LOW_SPEED);
// begin init calibration
calibrate();
}
/* Initialize stuff:
* - Start Vref module
* - Clear all fail flags
* - Internal reference (default: external vcc)
* - Mux between a and b channels (b channels)
* - Calibrate with 32 averages and low speed
* - When first calibration is done it sets:
* - Resolution (default: 10 bits)
* - Conversion speed and sampling time (both set to medium speed)
* - Averaging (set to 4)
*/
void ADC_Module::analog_init() {
// default settings:
/*
- 10 bits resolution
- 4 averages
- vcc reference
- no interrupts
- pga gain=1
- conversion speed = medium
- sampling speed = medium
initiate to 0 (or 1) so the corresponding functions change it to the correct value
*/
analog_res_bits = 0;
analog_max_val = 0;
analog_num_average = 0;
analog_reference_internal = 2;
var_enableInterrupts = 0;
pga_value = 1;
conversion_speed = 0;
sampling_speed = 0;
calibrating = 0;
fail_flag = ADC_ERROR_CLEAR; // clear all errors
num_measurements = 0;
// select b channels
// *ADC_CFG2_muxsel = 1;
setBit(ADC_CFG2, ADC_CFG2_MUXSEL_BIT);
// set reference to vcc
setReference(ADC_REF_3V3);
// set resolution to 10
setResolution(10);
// the first calibration will use 32 averages and lowest speed,
// when this calibration is over the averages and speed will be set to default by wait_for_cal and init_calib will be cleared.
init_calib = 1;
setAveraging(32);
setConversionSpeed(ADC_LOW_SPEED);
setSamplingSpeed(ADC_LOW_SPEED);
// begin init calibration
calibrate();
}
/* Waits until calibration is finished and writes the corresponding registers
*
*/
void ADC_Module::wait_for_cal(void)
{
uint16_t sum;
while(*ADC_SC3_cal) { // Bit ADC_SC3_CAL in register ADC0_SC3 cleared when calib. finishes.
}
if(*ADC_SC3_calf) { // calibration failed
fail_flag |= ADC_ERROR_CALIB; // the user should know and recalibrate manually
}
__disable_irq();
if (calibrating) {
sum = *ADC_CLPS + *ADC_CLP4 + *ADC_CLP3 + *ADC_CLP2 + *ADC_CLP1 + *ADC_CLP0;
sum = (sum / 2) | 0x8000;
*ADC_PG = sum;
sum = *ADC_CLMS + *ADC_CLM4 + *ADC_CLM3 + *ADC_CLM2 + *ADC_CLM1 + *ADC_CLM0;
sum = (sum / 2) | 0x8000;
*ADC_MG = sum;
calibrating = 0;
}
__enable_irq();
// the first calibration uses 32 averages and lowest speed,
// when this calibration is over, set the averages and speed to default.
if(init_calib) {
// set conversion speed to medium
setConversionSpeed(ADC_MED_SPEED);
// set sampling speed to medium
setSamplingSpeed(ADC_MED_SPEED);
// number of averages to 4
setAveraging(4);
init_calib = 0; // clear
}
}
/* Sets up all initial configurations and starts calibration
*
*/
void ADC::analog_init(uint32_t config)
{
VREF_TRM = 0x60;
VREF_SC = 0xE1; // enable 1.2 volt ref
if (analog_reference_internal) {
ADC0_SC2 |= ADC_SC2_REFSEL(1); // 1.2V ref
} else {
ADC0_SC2 |= ADC_SC2_REFSEL(0); // vcc/ext ref
}
// set resolution
setResolution(10);
// number of averages
setAveraging(analog_num_average);
// begin calibration
calibrate();
}
/// begin variables
/// - int sleepPin: number indicating to which pin the sleep port is attached. DIGITAL OUT
/// - int selfTestPin: number indicating to which pin the selftest port is attached. DIGITAL OUT
/// - int zeroGPin: number indicating to which pin the ZeroGpin is connected to. DIGITAL IN
/// - int gSelectPin: number indication to which pin the Gselect is connected to. DIGITAL OUT
/// - int xPin: number indicating to which pin the x-axis pin is connected to. ANALOG IN
/// - int yPin: number indicating to which pin the y-axis pin is connected to. ANALOG IN
/// - int zPin: number indicating to which pin the z-axis pin is connected to. ANALOG IN
/// - int offset: array indicating the G offset on the x,y and z-axis
/// When you use begin() without variables standard values are loaded: A0,A1,A2 as input for X,Y,Z and digital pins 13,12,11,10 for sleep, selftest, zeroG and gSelect
void AcceleroMMA7361::begin(int sleepPin, int selfTestPin, int zeroGPin, int gSelectPin, int xPin, int yPin, int zPin)
{
pinMode(sleepPin, OUTPUT);
pinMode(selfTestPin, OUTPUT);
pinMode(zeroGPin, INPUT);
pinMode(gSelectPin, OUTPUT);
pinMode(xPin, INPUT);
pinMode(yPin, INPUT);
pinMode(zPin, INPUT);
digitalWrite(sleepPin,HIGH);
digitalWrite(selfTestPin,LOW);
_sleepPin = sleepPin;
_selfTestPin = selfTestPin;
_zeroGPin = zeroGPin;
_gSelectPin = gSelectPin;
_xPin = xPin;
_yPin = yPin;
_zPin = zPin;
_sleep = false;
setOffSets(0,0,0);
setARefVoltage(5);
setAveraging(10);
setSensitivity(HIGH);
}
