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AP_RangeFinder_PulsedLightLRF: Updated the register definitions for the new hardware

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This commit is contained in:
akdslr 2014-04-30 13:35:38 -04:00 committed by Andrew Tridgell
parent 9f5eb3b464
commit a2df275bd9
2 changed files with 18 additions and 50 deletions
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7
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
View File

@ -67,12 +67,14 @@ bool AP_RangeFinder_PulsedLightLRF::take_reading()
}
// send command to take reading
if (hal.i2c->writeRegister(_addr, AP_RANGEFINDER_PULSEDLIGHTLRF_COMMAND_REG, AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_ACQUISITION) != 0) {
if (hal.i2c->writeRegister(_addr, AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG, AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE) != 0) {
healthy = false;
}else{
healthy = true;
}
hal.scheduler->delay_microseconds(200);
// return semaphore
i2c_sem->give();
@ -99,6 +101,7 @@ int16_t AP_RangeFinder_PulsedLightLRF::read()
// read the high byte
if (hal.i2c->readRegisters(_addr, AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG, 1, &buff[0]) == 0) {
hal.scheduler->delay_microseconds(200);
// read the low byte
if (hal.i2c->readRegisters(_addr, AP_RANGEFINDER_PULSEDLIGHTLRF_DISTLOW_REG, 1, &buff[1]) == 0) {
healthy = true;
@ -111,6 +114,8 @@ int16_t AP_RangeFinder_PulsedLightLRF::read()
ret_value = constrain_int16(ret_value, min_distance, max_distance);
ret_value = _mode_filter->apply(ret_value);
hal.scheduler->delay_microseconds(200);
// return semaphore
i2c_sem->give();

61
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
View File

@ -8,72 +8,35 @@
/* Connection diagram
*
* ------------------------------------------------------------------------------------
* | J5-1(NA) J5-2(NA) J5-3(NA) J5-4(NA) J5-5(NA) |
* | J1-1(GND) J2-5(I2C Data) |
* | J1-2(5V) J2-4(I2C Clk) |
* | J1-3(Enable) J2-3(NA) |
* | J1-4(Ser RX) J2-2(Laser 5-20V) |
* | J1-5(Ser TX) (HV Bypass) J2-1(Boost 5V) |
* | J2-1(LED) J2-2(5V) J2-3(Enable) J2-4(Ref Clk) J2-5(GND) J2-6(GND) |
* | |
* | J6-1(NA) J6-2(NA) |
* | |
* | J1-3(I2C Clk) J1-2(I2C Data) J1-1(GND) |
* ------------------------------------------------------------------------------------
*
* To connect to APM2.x:
* APM I2C Clock <-> J2-4
* APM I2C Data <-> J2-5
* APM GND (from output Rail) <-> J1-1
* APM 5V (from output Rail fed by ESC or BEC) <-> J1-2
* APM I2C Clock <-> J1-3
* APM I2C Data <-> J1-2
* APM GND (from output Rail) <-> J1-1 J2-5
* APM 5V (from output Rail fed by ESC or BEC) <-> J2-2
*
* APM2.x's I2C connector from outside edge: GND, Data, CLK, 3.3V
*/
// i2c address
#define AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR 0x70
#define AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR 0x42
// min and max distances
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MIN_DISTANCE 0
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MAX_DISTANCE 1400
// registers
#define AP_RANGEFINDER_PULSEDLIGHTLRF_COMMAND_REG 0x00
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MODESTATUS_REG 0x01 // mode & status register to turn on/off continuous measurements and averaging
#define AP_RANGEFINDER_PULSEDLIGHTLRF_SIGNALSTRENGTH_REG 0x05 // signal strenght
#define AP_RANGEFINDER_PULSEDLIGHTLRF_VELOCITY_REG 0x06 // velocity sensed
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG 0x07 // high byte of distance measurement
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTLOW_REG 0x08 // low byte of distance measurement
#define AP_RANGEFINDER_PULSEDLIGHTLRF_PROCESSINGCNTRL_REG 0x09 // to set criteria for successful reads including min/max distances and signal strengths
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_REG 0x13
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CONTINUOUSRATE_REG 0x14
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AUTOINCREMENT 0x80 // To-Do: this does not work - we still need to read from each registry individually instead of reading from multiple contiguous registries all at once
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG 0x00
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG 0x0f // high byte of distance measurement
#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTLOW_REG 0x10 // low byte of distance measurement
// command register values
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_ACQUISITION 0x01
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_READBLOCK 0x02
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_READWRITE_RAM 0x03
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_ERASEFLASH 0x04
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_POWERDOWN 0x06
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_READFLASH 0x07
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_SOFTRESET 0x09
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CMDREG_STOREUSERCMD 0x0a
// mode & status - valid values for mode/status register 0x01
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MODESTATUS_CONTINUOUS 0x20
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MODESTATUS_AVERAGING 0x80
// averaging - valid values for averaging register 0x13
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_NONE 0
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_2 1
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_4 2
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_8 3
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_16 4
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_64 5
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_128 6
#define AP_RANGEFINDER_PULSEDLIGHTLRF_AVERAGING_256 8
// continuous rates - valid values for continuous rate register 0x14
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CONTINUOUSRATE_100_HZ 1
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CONTINUOUSRATE_10_HZ 10
#define AP_RANGEFINDER_PULSEDLIGHTLRF_CONTINUOUSRATE_1_HZ 100
#define AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE 0x61
class AP_RangeFinder_PulsedLightLRF : public RangeFinder
{