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https://github.com/RobotechLille/cdf2018-principal
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34 lines
743 B
C
34 lines
743 B
C
#ifndef __SRF08_H__
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#define __SRF08_H__
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#include <stdint.h>
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int openSRF08(int address);
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uint8_t revSRF08(int fd);
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void startSRF08(int fd);
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void waitSRF08(int fd);
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// In mm
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float getSRF08(int fd);
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float readSRF08(int fd);
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#define SRF08_REGISTER_READ_REVISION 0x00
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#define SRF08_REGISTER_READ_ECHO_1_HIGH 0x02
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#define SRF08_REGISTER_READ_ECHO_1_LOW 0x03
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#define SRF08_REGISTER_WRITE_COMMAND 0x00
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#define SRF08_REGISTER_WRITE_MAX_GAIN 0x01
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#define SRF08_REGISTER_WRITE_RANGE 0x02
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#define SRF08_COMMAND_RANGING_IN 0x50
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#define SRF08_COMMAND_RANGING_CM 0x51
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#define SRF08_COMMAND_RANGING_US 0x52
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#define SRF08_DEFAULT_MAX_GAIN 0x1F
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#define SRF08_DEFAULT_RANGE 0xFF
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#define SRF08_VALUES_OFFSET 0x80
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#define SOUNDSPEED_MM_P_US 0.3312
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#endif
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