| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2011/05/01
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| 6 | // filename: Srf08.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Class for ultra sonic SRF08
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Srf08.h"
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| 19 | #include <I2cPort.h>
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| 20 | #include <FrameworkManager.h>
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| 21 | #include <GroupBox.h>
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| 22 | #include <SpinBox.h>
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| 23 | #include <cvmatrix.h>
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| 24 | #include <string.h>
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| 25 | #include <errno.h>
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| 26 | #include <math.h>
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| 27 |
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| 28 | using std::string;
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| 29 | using namespace flair::core;
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| 30 | using namespace flair::gui;
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| 31 |
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| 32 | namespace flair
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| 33 | {
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| 34 | namespace sensor
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| 35 | {
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| 36 |
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| 37 | Srf08::Srf08(const FrameworkManager* parent,string name,I2cPort* i2cport,uint16_t address,uint8_t priority) : Thread(parent,name,priority), UsRangeFinder(parent,name)
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| 38 | {
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| 39 | is_init=false;
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| 40 |
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| 41 | //default values
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| 42 | //range 46*43+43=2021mm max (2m)
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| 43 | //7:gain=118
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| 44 | //range=46;
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| 45 | //gain=7;
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| 46 |
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| 47 | this->i2cport=i2cport;
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| 48 | this->address=address;
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| 49 |
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| 50 | //station sol
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| 51 | gain=new SpinBox(GetGroupBox()->NewRow(),"gain:",0,255,1,8);
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| 52 | range=new SpinBox(GetGroupBox()->LastRowLastCol(),"range:",0,255,1,46);
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| 53 |
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| 54 |
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| 55 | SetRange();
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| 56 | SetMaxGain();
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| 57 | }
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| 58 |
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| 59 | Srf08::~Srf08()
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| 60 | {
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| 61 | SafeStop();
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| 62 | Join();
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| 63 | }
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| 64 |
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| 65 | void Srf08::Run(void)
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| 66 | {
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| 67 | WarnUponSwitches(true);
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| 68 |
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| 69 | //init srf
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| 70 | SendEcho();
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| 71 |
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| 72 | SetPeriodMS(20);
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| 73 |
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| 74 | while(!ToBeStopped())
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| 75 | {
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| 76 | WaitPeriod();
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| 77 |
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| 78 | if(range->ValueChanged()==true) SetRange();
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| 79 | if(gain->ValueChanged()==true) SetMaxGain();
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| 80 |
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| 81 | GetEcho();
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| 82 | SendEcho();
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| 83 | }
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| 84 |
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| 85 | WarnUponSwitches(false);
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| 86 | }
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| 87 |
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| 88 | void Srf08::SendEcho(void)
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| 89 | {
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| 90 | ssize_t written;
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| 91 | uint8_t tx[2];
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| 92 |
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| 93 | tx[0]=0;//command register
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| 94 | tx[1]=82;//ranging mode in usec
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| 95 |
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| 96 | i2cport->GetMutex();
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| 97 |
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| 98 | i2cport->SetSlave(address);
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| 99 | written = i2cport->Write(tx, 2);
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| 100 | echo_time=GetTime();
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| 101 |
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| 102 | i2cport->ReleaseMutex();
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| 103 |
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| 104 | if(written<0)
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| 105 | {
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| 106 | Thread::Err("erreur rt_dev_write (%s)\n",strerror(-written));
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| 107 | }
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| 108 | else if (written != 2)
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| 109 | {
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| 110 | Thread::Err("erreur rt_dev_write %i/2\n",written);
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| 111 | }
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| 112 |
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| 113 | }
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| 114 |
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| 115 | void Srf08::GetEcho(void)
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| 116 | {
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| 117 | float z=0;
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| 118 | ssize_t written,read;
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| 119 | uint8_t tx,rx[2];
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| 120 | tx=2;
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| 121 | uint8_t nb_err=0;
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| 122 |
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| 123 | //si l'us est bloqué, on attend 1ms de plus
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| 124 | while(1)
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| 125 | {
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| 126 | i2cport->GetMutex();
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| 127 | i2cport->SetSlave(address);
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| 128 | written = i2cport->Write(&tx, 1);
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| 129 |
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| 130 | if(written<0)
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| 131 | {
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| 132 | i2cport->ReleaseMutex();
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| 133 | Thread::Err("erreur rt_dev_write (%s)\n",strerror(-written));
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| 134 | nb_err++;
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| 135 | if(nb_err==20)
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| 136 | {
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| 137 | Thread::Err("erreur rt_dev_write (%s), too many errors\n",strerror(-written));
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| 138 | return;
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| 139 | }
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| 140 | SleepMS(1);
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| 141 | }
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| 142 | else
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| 143 | {
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| 144 | read = i2cport->Read(rx, 2);
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| 145 | i2cport->ReleaseMutex();
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| 146 | //rt_printf("%i %i\n",rx[0],rx[1]);
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| 147 | if(read<0)
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| 148 | {
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| 149 | if(read!=-ETIMEDOUT) Thread::Err("erreur rt_dev_read (%s) %i\n",strerror(-written),read);
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| 150 | nb_err++;
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| 151 | if(nb_err==20)
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| 152 | {
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| 153 | Thread::Err("erreur rt_dev_read (%s), too many errors\n",strerror(-written));
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| 154 | return;
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| 155 | }
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| 156 | SleepMS(1);
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| 157 | }
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| 158 | else if (read != 2)
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| 159 | {
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| 160 | Thread::Err("erreur rt_dev_read %i/2\n",read);
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| 161 | return;
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| 162 | }
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| 163 | else if(read==2)
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| 164 | {
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| 165 | break;
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| 166 | }
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| 167 | }
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| 168 | }
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| 169 |
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| 170 | //if(z!=-1)
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| 171 | //revoir ce filtrage!!!
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| 172 | {
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| 173 | z=0.000001*(float)(rx[0]*256+rx[1])*344/2;//d=v*t; v=344m/s, t=t usec/2 (aller retour)
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| 174 | //if(z>1) rt_printf("%i %i %f\n",rx[0],rx[1],z);
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| 175 | //on ne permet pas 2 mesures consecutives + grandes de 10cm
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| 176 | if(fabs(z-z_1)>0.5 && is_init==true)
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| 177 | {
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| 178 | Printf("z %f (anc %f) %lld\n",z,z_1,echo_time);
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| 179 | Printf("a revoir on suppose le sol plan\n");
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| 180 | z=z_1+(z_1-z_2);//on suppose que l'on continue a la meme vitesse
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| 181 | }
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| 182 | output->SetValue(0,0,z);
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| 183 | output->SetDataTime(echo_time+(rx[0]*256+rx[1])*1000);
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| 184 | ProcessUpdate(output);
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| 185 | z_2=z_1;
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| 186 | z_1=z;
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| 187 | is_init=true;
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| 188 | }
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| 189 | }
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| 190 |
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| 191 |
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| 192 | void Srf08::SetRange(void)
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| 193 | {
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| 194 | ssize_t written;
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| 195 | uint8_t tx[2];
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| 196 |
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| 197 | tx[0]=2;//range register
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| 198 | tx[1]=range->Value();//range*43+43=dist max en mm
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| 199 |
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| 200 | i2cport->GetMutex();
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| 201 |
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| 202 | i2cport->SetSlave(address);
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| 203 | written = i2cport->Write(tx, 2);
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| 204 |
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| 205 | i2cport->ReleaseMutex();
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| 206 |
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| 207 | if(written<0)
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| 208 | {
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| 209 | Thread::Err("erreur rt_dev_write (%s)\n",strerror(-written));
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| 210 | }
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| 211 | else if (written != 2)
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| 212 | {
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| 213 | Thread::Err("erreur rt_dev_write %i/2\n",written);
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| 214 | }
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| 215 |
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| 216 | }
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| 217 |
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| 218 | void Srf08::SetMaxGain(void)
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| 219 | {
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| 220 | ssize_t written;
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| 221 | uint8_t tx[2];
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| 222 |
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| 223 | //rt_printf("Srf08::SetMaxGain: %s ->%i\n",IODevice::ObjectName().c_str(),gain->Value());
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| 224 |
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| 225 | tx[0]=1;//max gain register
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| 226 | tx[1]=gain->Value();
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| 227 |
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| 228 | i2cport->GetMutex();
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| 229 |
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| 230 | i2cport->SetSlave(address);
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| 231 | written = i2cport->Write(tx, 2);
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| 232 |
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| 233 | i2cport->ReleaseMutex();
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| 234 |
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| 235 | if(written<0)
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| 236 | {
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| 237 | Thread::Err("erreur write (%s)\n",strerror(-written));
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| 238 | }
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| 239 | else if (written != 2)
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| 240 | {
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| 241 | Thread::Err("erreur write %i/2\n",written);
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| 242 | }
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| 243 | }
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| 244 |
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| 245 | } // end namespace sensor
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| 246 | } // end namespace flair
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