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