/*!
* \brief write to the chip
* \param serial serial port object
* \param timeout_mS communications timeout in milliseconds
* \return true if successful
*/
bool SonarChipWrite(
SerialPort &serial,
unsigned timeout_mS)
{
sbuf[0] = I2C_CMD;
sbuf[1] = 0x40;
if ((write_x & 3) == 3)
sbuf[2] = 0xfe;
else
sbuf[2] = 0xff;
write_x++;
CurrentTransmissionType = TRANSMISSION_CHIP_WRITE;
if (serial.Out(sbuf, 3, timeout_mS) > 0)
return true;
else
return false;
}
/*!
* \brief sets the address of a sensor
* \param serial serial port object
* \param sensor_address address
* \param timeout_mS communications timeout in milliseconds
* \return true if successful
*/
bool SetSensorAddress(
SerialPort &serial,
unsigned char sensor_address,
unsigned timeout_mS)
{
if ((sensor_address <= 0xfe) && (sensor_address >= 0xe0)) {
sbuf[0] = CM01_CMD;
sbuf[1] = 0x02;
sbuf[2] = sensor_address;
sbuf[3] = 0;
CurrentTransmissionType = TRANSMISSION_SET_ADDRESS;
if (serial.Out(sbuf, 4, timeout_mS) > 0)
return true;
else
return false;
}
else {
ROS_ERROR("SRF08 invalid sensor address: %d", (int)sensor_address);
return false;
}
}
/*!
* \brief sends a request to read the time of flight of a previous ping
* \param serial serial port object
* \param sensor_address address
* \param timeout_mS communications timeout in milliseconds
* \return true if successful
*/
bool SonarRead(
SerialPort &serial,
unsigned char sensor_address,
unsigned timeout_mS)
{
if ((sensor_address <= 0xfe) && (sensor_address >= 0xe0)) {
sbuf[0] = I2C_CMD; // send sonar read command
sbuf[1] = (unsigned char)(sensor_address+1);
sbuf[2] = 0x00;
sbuf[3] = 0x04;
CurrentTransmissionType = TRANSMISSION_READ;
if (serial.Out(sbuf, 4, timeout_mS) > 0)
return true;
else
return false;
}
else {
ROS_ERROR("SRF08 invalid sensor address: %d",(int)sensor_address);
return false;
}
}
/*!
* \brief sets the sensor gain
* \param serial serial port object
* \param sensor_address address
* \param timeout_mS communications timeout in milliseconds
* \return true if successful
*/
bool SonarGainLimit(
SerialPort &serial,
unsigned char sensor_address,
unsigned timeout_mS)
{
if ((sensor_address <= 0xfe) && (sensor_address >=0xe0)) {
sbuf[0] = I2C_CMD; // send gain limit
sbuf[1] = sensor_address;
sbuf[2] = 0x01;
sbuf[3] = 0x01;
sbuf[4] = 20;
CurrentTransmissionType = TRANSMISSION_GAIN;
if (serial.Out(sbuf, 5, timeout_mS) > 0)
return true;
else
return false;
}
else {
ROS_ERROR("SRF08 invalid sensor address: %d",(int)sensor_address);
return false;
}
}
/*!
* \brief sends out a ping
* \param serial serial port object
* \param sensor_address address
* \param timeout_mS communications timeout in milliseconds
* \return true if successful
*/
bool SonarPing(
SerialPort &serial,
unsigned char sensor_address,
unsigned timeout_mS)
{
if ((sensor_address <= 0xfe) && (sensor_address >=0xe0)) {
sbuf[0] = I2C_CMD; // send sonar rangeing (uS) command
sbuf[1] = sensor_address;
sbuf[2] = 0x00;
sbuf[3] = 0x01;
sbuf[4] = 0x52;
CurrentTransmissionType = TRANSMISSION_PING;
if (serial.Out(sbuf, 5, timeout_mS) > 0)
return true;
else
return false;
}
else {
ROS_ERROR("SRF08 invalid sensor address: %d",(int)sensor_address);
return false;
}
}