all

RTOS_Labs_common/IRDistance.h

@@ -0,0 +1,88 @@
+/**
+ * @file      IRDistance.h
+ * @brief     Take infrared distance measurements
+ * @details   Provide mid-level functions that convert raw ADC
+ * values from the GP2Y0A21YK0F infrared distance sensors to
+ * distances in mm.
+ * @version   derived from TI-RSLK MAX v1.1
+ * @author    Daniel Valvano and Jonathan Valvano
+ * @copyright Copyright 2020 by Jonathan W. Valvano, valvano@mail.utexas.edu,
+ * @warning   AS-IS
+ * @note      For more information see  http://users.ece.utexas.edu/~valvano/
+ * @date      January 15, 2020
+
+ ******************************************************************************/
+
+/* This example accompanies the book
+   "Embedded Systems: Introduction to Robotics,
+   Jonathan W. Valvano, ISBN: 9781074544300, copyright (c) 2020
+ For more information about my classes, my research, and my books, see
+ http://users.ece.utexas.edu/~valvano/
+
+Simplified BSD License (FreeBSD License)
+Copyright (c) 2020, Jonathan Valvano, All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are
+those of the authors and should not be interpreted as representing official
+policies, either expressed or implied, of the FreeBSD Project.
+*/
+
+// 5V connected to all GP2Y0A21YK0F Vcc's (+5V)
+// 5V connected to positive side of 10 uF capacitors physically near the sensors
+// ground connected to all GP2Y0A21YK0F grounds and microcontroller ground
+// ground connected to negative side of all 10 uF capacitors
+
+
+
+#ifndef IRDISTANCE_H_
+#define IRDISTANCE_H_
+#include <stdint.h>
+
+/**
+ * Convert ADC sample into distance for the GP2Y0A21YK0F
+ * infrared distance sensor.  Conversion uses a calibration formula<br>
+ * D = A/(adcSample + B) + C
+ * @param adcSample is the 12-bit ADC sample 0 to 4095
+ * @param sensor is sensor number 0 to 3
+ * @return distance from robot to wall (units mm)
+ * @brief  Convert infrared distance measurement
+ */
+int32_t IRDistance_Convert(int32_t adcSample, uint32_t sensor);
+
+/**
+ * Convert ADC sample to distance for the right IR sensor (PA26, ADC0 ch1)<br>
+ * Calibrated from IR_Calib.xlsx: d(mm) = 76921/(adc - 495) + 20, RMSE~4.6mm
+ * @param adcSample is the 12-bit ADC sample 0 to 4095
+ * @return distance in mm, or 305 if beyond ~12-inch calibrated range
+ */
+int32_t IRDistance_Right(int32_t adcSample);
+
+/**
+ * Convert ADC sample to distance for the left IR sensor (PA22, ADC0 ch7)<br>
+ * Calibrated from IR_Calib.xlsx: d(mm) = 83326/(adc - 498) + 18, RMSE~7.5mm
+ * @param adcSample is the 12-bit ADC sample 0 to 4095
+ * @return distance in mm, or 305 if beyond ~12-inch calibrated range
+ */
+int32_t IRDistance_Left(int32_t adcSample);
+
+#endif /* IRDISTANCE_H_ */