Revision 380
fixed some style stuff
rangefinder.c | ||
---|---|---|
34 | 34 |
**/ |
35 | 35 |
|
36 | 36 |
/* |
37 |
Authors: James Kong and Greg Tress |
|
37 |
Authors: James Kong and Greg Tress
|
|
38 | 38 |
|
39 |
Last Modified: 4/30/06 by James |
|
40 |
-Started log_distance conversion function !!!NOT COMPLETE!!! |
|
41 |
-Cleaning up comments |
|
39 |
Last Modified: 4/30/06 by James
|
|
40 |
-Started log_distance conversion function !!!NOT COMPLETE!!!
|
|
41 |
-Cleaning up comments
|
|
42 | 42 |
|
43 |
----------------- |
|
44 |
rangefinder.c |
|
45 |
Using Sharp GP2D02 IR Rangefinder |
|
43 |
-----------------
|
|
44 |
rangefinder.c
|
|
45 |
Using Sharp GP2D02 IR Rangefinder
|
|
46 | 46 |
|
47 |
Vin is the input to the rangefinder, designated RANGE_CTRL. |
|
48 |
Vout is the output from the rangefinder, designated RANGE_IN# where # is the rangefinder you are reading from |
|
47 |
Vin is the input to the rangefinder, designated RANGE_CTRL.
|
|
48 |
Vout is the output from the rangefinder, designated RANGE_IN# where # is the rangefinder you are reading from
|
|
49 | 49 |
|
50 |
Expected Initial Conditions: |
|
51 |
Vin is high and Vout should read high. |
|
50 |
Expected Initial Conditions:
|
|
51 |
Vin is high and Vout should read high.
|
|
52 | 52 |
|
53 |
Usage: |
|
54 |
1.) Set Vin low. Vout should read low. |
|
55 |
2.) Wait for high on Vout. |
|
56 |
3.) Begin clocking Vin and reading 8 bits from Vout (MSB first). |
|
57 |
4.) Set Vin high for 2ms or more to turn off rangefinder |
|
53 |
Usage:
|
|
54 |
1.) Set Vin low. Vout should read low.
|
|
55 |
2.) Wait for high on Vout.
|
|
56 |
3.) Begin clocking Vin and reading 8 bits from Vout (MSB first).
|
|
57 |
4.) Set Vin high for 2ms or more to turn off rangefinder
|
|
58 | 58 |
|
59 | 59 |
*/ |
60 | 60 |
|
... | ... | |
62 | 62 |
#include "rangefinder.h" |
63 | 63 |
|
64 | 64 |
/* |
65 |
read_distance returns the 8-bit reading from the rangefinder |
|
66 |
parameters: |
|
67 |
range_id - dio pin set as the rangefinder Vout [i.e. RANGE_IN0] |
|
65 |
read_distance returns the 8-bit reading from the rangefinder
|
|
66 |
parameters:
|
|
67 |
range_id - dio pin set as the rangefinder Vout [i.e. RANGE_IN0]
|
|
68 | 68 |
|
69 |
NOTE: |
|
70 |
The Sharp GD2D02 returns values on a decreasing logrithmic scale. |
|
71 |
So higher values correspond to closer distances. Use linearize_distance to convert to normal centimeter scale. Also, when reading distances closer than 8cm, the Sharp GD2D02 will return lower values than the values at 8cm. |
|
72 |
At this point, we are only reading from one rangefinder [RANGE_IN0]. |
|
69 |
NOTE:
|
|
70 |
The Sharp GD2D02 returns values on a decreasing logrithmic scale.
|
|
71 |
So higher values correspond to closer distances. Use linearize_distance to convert to normal centimeter scale. Also, when reading distances closer than 8cm, the Sharp GD2D02 will return lower values than the values at 8cm.
|
|
72 |
At this point, we are only reading from one rangefinder [RANGE_IN0].
|
|
73 | 73 |
*/ |
74 | 74 |
|
75 | 75 |
// constants |
76 | 76 |
/* Nasty IR approximation table |
77 |
I'm using this for the heck of it. We can do whatever. |
|
77 |
I'm using this for the heck of it. We can do whatever.
|
|
78 | 78 |
|
79 |
Note the minimum value is .4V (20), and the maximum is 2.6V (133). |
|
80 |
Gives distance in mm. |
|
79 |
Note the minimum value is .4V (20), and the maximum is 2.6V (133).
|
|
80 |
Gives distance in mm.
|
|
81 | 81 |
|
82 |
excel formula(valid for inputs 20-133): ROUND(2353.6*(E2^(-1.1146))*10,0) |
|
82 |
excel formula(valid for inputs 20-133): ROUND(2353.6*(E2^(-1.1146))*10,0)
|
|
83 | 83 |
|
84 |
This is only valid for the GP2D12, with objects directly ahead and more than |
|
85 |
10cm from the detector. See the datasheet for more information. |
|
84 |
This is only valid for the GP2D12, with objects directly ahead and more than
|
|
85 |
10cm from the detector. See the datasheet for more information.
|
|
86 | 86 |
*/ |
87 | 87 |
|
88 | 88 |
#define MIN_IR_ADC8 20 |
89 | 89 |
#define MAX_IR_ADC8 133 |
90 | 90 |
|
91 | 91 |
static int IR_dist_conversion[114] = { |
92 |
800,791,751,714,681,651,623,597,574,552,531,512,494,478,462,447 |
|
93 |
,434,421,408,397,386,375,365,356,347,338,330,322,315,307,301,294 |
|
94 |
,288,282,276,270,265,260,255,250,245,241,237,232,228,224,221,217 |
|
95 |
,213,210,207,203,200,197,194,191,189,186,183,181,178,176,173,171 |
|
96 |
,169,166,164,162,160,158,156,154,152,151,149,147,145,144,142,140 |
|
97 |
,139,137,136,134,133,131,130,129,127,126,125,124,122,121,120,119 |
|
98 |
,118,117,115,114,113,112,111,110,109,108,107,106,105,105,104,103 |
|
99 |
,102,101 |
|
92 |
800,791,751,714,681,651,623,597,574,552,531,512,494,478,462,447
|
|
93 |
,434,421,408,397,386,375,365,356,347,338,330,322,315,307,301,294
|
|
94 |
,288,282,276,270,265,260,255,250,245,241,237,232,228,224,221,217
|
|
95 |
,213,210,207,203,200,197,194,191,189,186,183,181,178,176,173,171
|
|
96 |
,169,166,164,162,160,158,156,154,152,151,149,147,145,144,142,140
|
|
97 |
,139,137,136,134,133,131,130,129,127,126,125,124,122,121,120,119
|
|
98 |
,118,117,115,114,113,112,111,110,109,108,107,106,105,105,104,103
|
|
99 |
,102,101
|
|
100 | 100 |
}; |
101 | 101 |
|
102 | 102 |
int linearize_distance(int value); |
... | ... | |
118 | 118 |
**/ |
119 | 119 |
void range_init(void) |
120 | 120 |
{ |
121 |
digital_output(_PIN_B4,0);
|
|
121 |
digital_output(_PIN_B4,0);
|
|
122 | 122 |
} |
123 | 123 |
|
124 | 124 |
/** |
... | ... | |
132 | 132 |
* |
133 | 133 |
* @see range_init |
134 | 134 |
**/ |
135 |
int range_read_distance (int range_id) |
|
136 |
{ |
|
137 |
return linearize_distance(analog8(range_id)); |
|
135 |
int range_read_distance (int range_id) { |
|
136 |
return linearize_distance(analog8(range_id)); |
|
138 | 137 |
} |
139 | 138 |
|
140 | 139 |
/** @} **/ //end defgroup |
141 | 140 |
|
142 |
int linearize_distance(int value) |
|
143 |
{ |
|
144 |
if(value < MIN_IR_ADC8) |
|
145 |
{ |
|
141 |
int linearize_distance(int value) { |
|
142 |
if(value < MIN_IR_ADC8) { |
|
146 | 143 |
return -1; |
147 |
} |
|
148 |
else if(value > MAX_IR_ADC8) |
|
149 |
{ |
|
144 |
} else if(value > MAX_IR_ADC8) { |
|
150 | 145 |
return -1; |
151 |
} |
|
152 |
else |
|
153 |
{ |
|
146 |
} else { |
|
154 | 147 |
return IR_dist_conversion[value - MIN_IR_ADC8]; |
155 | 148 |
} |
156 | 149 |
} |
157 |
|
|
158 |
|
|
159 |
|
Also available in: Unified diff