srf08.h

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/*
 * Copyright (C) 2013 Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
 *
 * This file is subject to the terms and conditions of the GNU Lesser General
 * Public License v2.1. See the file LICENSE in the top level directory for more
 * details.
 */
 
#ifndef SRF08_H
#define SRF08_H
 
#include <stdint.h>
#include "periph/i2c.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define SRF08_COMMAND_REG               0x0
 
#define SRF08_GAIN_REG                  0x1
 
#define SRF08_RANGE_REG                 0x2
 
#define SRF08_RANGE_HIGH_BYTE           0x2
 
#define SRF08_RANGE_LOW_BYTE            0x3
 
#define SRF08_MAX_REGISTER_NUMBER       35
 
#define SRF08_MAX_ECHO_NUMBER           17
 
#define SRF08_MAX_RANGE_6M              0x8C
 
#define SRF08_MAX_GAIN                  0x1F
 
typedef struct {
    i2c_t i2c;                  
    uint8_t addr;               
} srf08_params_t;
 
typedef struct {
    srf08_params_t params;      
} srf08_t;
 
typedef enum {
    SRF08_MODE_INCH =          0x50,      
    SRF08_MODE_CM =            0x51,      
    SRF08_MODE_MICRO_SEC =     0x52,      
    SRF08_ANN_MODE_INCH =      0x53,      
    SRF08_ANN_MODE_CM =        0x54,      
    SRF08_ANN_MODE_MICRO_SEC = 0x55       
}srf08_mode_t;
 
int srf08_init(srf08_t *dev, const srf08_params_t *params);
 
int srf08_set_max_range(const srf08_t *dev, uint8_t max_range);
 
int srf08_set_max_gain(const srf08_t *dev, uint8_t max_gain);
 
int srf08_get_distances(const srf08_t *dev,
                        uint16_t *range_array,
                        int num_echos,
                        srf08_mode_t ranging_mode);
 
#ifdef __cplusplus
}
#endif
 
#endif /* SRF08_H */