kb_lrf.c File Reference

This module provides useful basic facilities to use the KoreBot with the LedRangeFinder card. More...

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Defines

#define DISTANCE_READINGS_TO_AVERAGE   3

#define MAX_TIMEOUT_IN_MS   500

#define MAX_DATA_BYTES   246

#define device   "/dev/tts/2"

#define PXA_INT0   8

#define OUT   0

#define STX   2

#define ETX   3

#define LRF_PORT   "/dev/tts/2"

#define HKO_POLY   0x1021

Functions

int kb_lrf_OpenComPort (void)

void kb_lrf_FlushSerPort (int LRF_DeviceHandle)

unsigned char kb_lrf_lsb_to_msb (unsigned char lsb)

unsigned short kb_lrf_GenerateCRC (unsigned char *buf, int count)

int kb_lrf_GetDataFromLRF (int LRF_DeviceHandle, int TotalBytes)

int kb_lrf_SendCommand (int LRF_DeviceHandle, char *LRF_Command, int LRF_CommandLength)

int kb_lrf_AcquireCertifiedCode (int LRF_DeviceHandle)

int kb_lrf_CertifyLink (int LRF_DeviceHandle)

void kb_lrf_pwrOn (void)

void kb_lrf_pwrOff (void)

int kb_lrf_Init (char *LRF_DeviceName)

void kb_lrf_Close (int LRF_DeviceHandle)

int kb_lrf_FetchDistanceFromLRF (int LRF_DeviceHandle)

int kb_lrf_GetDistances (int LRF_DeviceHandle)

Variables

unsigned short calcTable []

unsigned char kb_lrf_Data [MAX_DATA_BYTES]

unsigned short kb_lrf_DistanceData [121]

unsigned short kb_lrf_DistanceDataSensor [121]

unsigned long kb_lrf_DistanceDataSum [121]

int kb_lrf_DistanceGoodCounter [121]

unsigned short CertifiedCode

Detailed Description

This module provides useful basic facilities to use the KoreBot with the LedRangeFinder card.

Support for KoreBot Led Range Finder.

Author:: Arnaud Maye (K-Team SA)

Note:: Copyright (C) 2004 K-TEAM SA

Bug:: none discovered.

Todo:

Definition in file kb_lrf.c.

Define Documentation

#define device "/dev/tts/2"

Definition at line 34 of file kb_lrf.c.

Referenced by knet_i2c_init(), koa_lrf_task(), lrfinit(), and lrfmeasure().

#define DISTANCE_READINGS_TO_AVERAGE 3

Definition at line 29 of file kb_lrf.c.

Referenced by kb_lrf_GetDistances().

#define ETX 3

Definition at line 72 of file kb_lrf.c.

Referenced by kb_lrf_GetDataFromLRF().

#define HKO_POLY 0x1021

kb_lrf_lsb_to_msb reverts Lsb to Msb on a byte

Parameters:

lsb

byte to reverse bits on

Returns:: inverted byte crc-ccitt mask

Definition at line 224 of file kb_lrf.c.

Referenced by kb_lrf_GenerateCRC().

#define LRF_PORT "/dev/tts/2"

Definition at line 75 of file kb_lrf.c.

Referenced by kb_lrf_OpenComPort().

#define MAX_DATA_BYTES 246

Definition at line 32 of file kb_lrf.c.

Referenced by kb_lrf_GetDataFromLRF(), and kb_lrf_SendCommand().

#define MAX_TIMEOUT_IN_MS 500

Definition at line 31 of file kb_lrf.c.

Referenced by kb_lrf_GetDataFromLRF(), and kb_lrf_SendCommand().

#define OUT 0

Definition at line 37 of file kb_lrf.c.

#define PXA_INT0 8

Definition at line 36 of file kb_lrf.c.

Referenced by gpioinit(), kb_lrf_Init(), kb_lrf_pwrOff(), and kb_lrf_pwrOn().

#define STX 2

Definition at line 71 of file kb_lrf.c.

Referenced by kb_lrf_GetDataFromLRF().

Function Documentation

int kb_lrf_AcquireCertifiedCode ( int LRF_DeviceHandle )

kb_lrf_AcquireCertifiedCode does receive certification code from LRF

Parameters:

LRF_DeviceHandle

Handle to the lrf port which as been openned by kb_lrf_openComPort or kb_lrf_init

Returns:

- < 0 : Any error code

> 0 : Sucess

Definition at line 582 of file kb_lrf.c.

References CertifiedCode, KB_DEBUG, KB_ERROR, KB_ERROR_LRFNOCERT, KB_ERROR_LRFNODATA, kb_lrf_Data, kb_lrf_GenerateCRC(), kb_lrf_GetDataFromLRF(), and kb_lrf_SendCommand().

Referenced by kb_lrf_GetDistances(), and kb_lrf_Init().

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int kb_lrf_CertifyLink ( int LRF_DeviceHandle )

kb_lrf_CertifyLink does checking that link is still valid, caution, this function need to be called regulary, below 3 seconds

Parameters:

LRF_DeviceHandle

Handle to the lrf port which as been openned by kb_lrf_openComPort or kb_lrf_init

Returns:

- < 0 : Any error code

> 0 : Sucess

Definition at line 618 of file kb_lrf.c.

References CertifiedCode, KB_DEBUG, KB_ERROR, KB_ERROR_LRFNOCERT, KB_ERROR_LRFNODATA, kb_lrf_Data, kb_lrf_GetDataFromLRF(), and kb_lrf_SendCommand().

Referenced by kb_lrf_GetDistances(), and kb_lrf_Init().

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void kb_lrf_Close ( int LRF_DeviceHandle )

kb_lrf_Close does powering off the LRF, the close the port device

Parameters:

LRF_DeviceHandle

Handle to the lrf port which as been openned by kb_lrf_openComPort or kb_lrf_init

Definition at line 720 of file kb_lrf.c.

References kb_lrf_pwrOff().

Referenced by handle_kill().

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int kb_lrf_FetchDistanceFromLRF ( int LRF_DeviceHandle )

kb_lrf_FetchDistanceFromLRF is a medium level function that does whole mechanism send the command, then receive back the data from LRF,

Parameters:

LRF_DeviceHandle

Handle to the lrf port which as been openned by kb_lrf_openComPort or kb_lrf_init

Returns:

- < 0 : Any error code

> 0 : Sucess

Definition at line 738 of file kb_lrf.c.

References KB_ERROR, KB_ERROR_LRFCMDTX, KB_ERROR_LRFDATARX, KB_ERROR_LRFDISTRX, kb_lrf_Data, kb_lrf_DistanceDataSensor, kb_lrf_GetDataFromLRF(), and kb_lrf_SendCommand().

Referenced by kb_lrf_GetDistances().

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void kb_lrf_FlushSerPort ( int LRF_DeviceHandle )

kb_lrf_FlushSerPort "erases" the serial port buffer.

Parameters:

LRF_DeviceHandle

Handle to the port which is returned by kb_lrf_OpenComPort

Returns:: none

Definition at line 198 of file kb_lrf.c.

References fd_set1.

Referenced by kb_lrf_SendCommand().

unsigned short kb_lrf_GenerateCRC	(	unsigned char *	buf,
		int	count
	)

kb_lrf_GenerateCRC does generating CCIT CRC for a given byte array and for a given array lenght

Parameters:

	buf	Pointer to the array that need to be CRCed
	count	Size of the array passed as buf

Returns:: crc CCIT crc computed from our input buffer

Definition at line 250 of file kb_lrf.c.

References HKO_POLY, and kb_lrf_lsb_to_msb().

Referenced by kb_lrf_AcquireCertifiedCode(), kb_lrf_GetDataFromLRF(), and kb_lrf_SendCommand().

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int kb_lrf_GetDataFromLRF	(	int	LRF_DeviceHandle,
		int	TotalBytes
	)

kb_lrf_GetDataFromLRF does receiving some datas from the LRF sensor data is stored in the global 121 bytes arrays

datasheet is saying there is 121 measures which all are 16 bits wide each measure is the distance in millimeters from the sensor and measure 0 means it is at -18 degrees ( inverse clockwise ) and mesure 121 means it is at +198 degrees ( inverse clockwise )

Parameters:

	LRF_DeviceHandle	Handle to the lrf port which as been openned by kb_lrf_openComPort or kb_lrf_init
	TotalBytes	Number of bytes that should be received

Returns:

- < 0 : Any error code

> 0 : Sucess

Definition at line 329 of file kb_lrf.c.

References calcTable, ETX, KB_DEBUG, KB_ERROR, KB_ERROR_LRFNOETX, KB_ERROR_LRFNOSTX, kb_lrf_Data, kb_lrf_GenerateCRC(), MAX_DATA_BYTES, MAX_TIMEOUT_IN_MS, and STX.

Referenced by kb_lrf_AcquireCertifiedCode(), kb_lrf_CertifyLink(), and kb_lrf_FetchDistanceFromLRF().

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int kb_lrf_GetDistances ( int LRF_DeviceHandle )

kb_lrf_GetDistances is a high level function that does whole mechanism certify the link, get some distances, averages then receive back the data from LRF,

Parameters:

LRF_DeviceHandle

Handle to the lrf port which as been openned by kb_lrf_openComPort or kb_lrf_init

Returns:

- < 0 : Any error code

0 : Sucess

Definition at line 787 of file kb_lrf.c.

References DISTANCE_READINGS_TO_AVERAGE, KB_ERROR, KB_ERROR_LRFNOCERT, kb_lrf_AcquireCertifiedCode(), kb_lrf_CertifyLink(), kb_lrf_DistanceData, kb_lrf_DistanceDataSensor, kb_lrf_DistanceDataSum, kb_lrf_DistanceGoodCounter, and kb_lrf_FetchDistanceFromLRF().

Referenced by koa_lrf_task(), and lrfmeasure().

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int kb_lrf_Init ( char * LRF_DeviceName )

kb_lrf_Init does openning port, turn power on the LRF then certify the link,

Returns:

- < 0 : Any error code

> 0 : Handle to the device

Definition at line 669 of file kb_lrf.c.

References KB_ERROR, KB_ERROR_OPENLRF, kb_gpio_dir(), kb_gpio_function(), kb_gpio_init(), kb_init(), kb_lrf_AcquireCertifiedCode(), kb_lrf_CertifyLink(), kb_lrf_OpenComPort(), kb_lrf_pwrOn(), OUT, and PXA_INT0.

Referenced by koa_lrf_task(), lrfinit(), and lrfmeasure().

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unsigned char kb_lrf_lsb_to_msb ( unsigned char lsb )

Definition at line 225 of file kb_lrf.c.

Referenced by kb_lrf_GenerateCRC().

int kb_lrf_OpenComPort ( void )

kb_lrf_OpenComPort opens the serial port which is LRF card port ( /dev/tts/2 ).

Parameters:

none

Returns:

- < 0 : Any error code

> 0 : Handle to the openned port

Definition at line 163 of file kb_lrf.c.

References KB_ERROR, KB_ERROR_OPENLRF, and LRF_PORT.

Referenced by kb_lrf_Init().

void kb_lrf_pwrOff ( void )

kb_lrf_pwrOff does enabling 12 => 24V converter thus powering LRF module

Definition at line 657 of file kb_lrf.c.

References kb_gpio_clear(), and PXA_INT0.

Referenced by kb_lrf_Close(), and lrfoff().

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void kb_lrf_pwrOn ( void )

kb_lrf_pwrOn does enabling 12 => 24V converter thus powering LRF module

Definition at line 648 of file kb_lrf.c.

References kb_gpio_set(), and PXA_INT0.

Referenced by kb_lrf_Init(), and lrfon().

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int kb_lrf_SendCommand	(	int	LRF_DeviceHandle,
		char *	LRF_Command,
		int	LRF_CommandLength
	)

kb_lrf_SendCommand does sending a command to the LRF, checkout the link before as well

Parameters:

	LRF_DeviceHandle	Handle to the lrf port which as been openned by kb_lrf_openComPort or kb_lrf_init
	LRF_Command	Buffer containing the command to send
	LRF_CommandLength	Lenght of the command to send

Returns:

- < 0 : Any error code

> 0 : Sucess

Definition at line 471 of file kb_lrf.c.

References calcTable, fd_set1, KB_DEBUG, KB_ERROR, KB_ERROR_LRFDATA2BIG, KB_ERROR_LRFNODATA, KB_ERROR_LRFSENDDATA, kb_lrf_FlushSerPort(), kb_lrf_GenerateCRC(), MAX_DATA_BYTES, and MAX_TIMEOUT_IN_MS.

Referenced by kb_lrf_AcquireCertifiedCode(), kb_lrf_CertifyLink(), and kb_lrf_FetchDistanceFromLRF().

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Variable Documentation

unsigned short calcTable[]

Initial value:

 {
   0x0000, 0x0002, 0x0003, 0x0004, 0x0006, 0x0007, 0x0008, 0x000A, 0x000B, 0x000C, 
   0x000E, 0x000F, 0x0010, 0x0012, 0x0013, 0x0014, 0x0016, 0x0017, 0x0018, 0x001A, 
   0x001B, 0x001C, 0x001E, 0x001F, 0x0020, 0x0022, 0x0023, 0x0024, 0x0026, 0x0027, 
   0x0028, 0x002A, 0x002B, 0x002C, 0x002E, 0x002F, 0x0030, 0x0032, 0x0033, 0x0034, 
   0x0036, 0x0037, 0x0038, 0x003A, 0x003B, 0x003C, 0x003E, 0x003F, 0x0040, 0x0042, 
   0x0043, 0x0044, 0x0046, 0x0047, 0x0048, 0x004A, 0x004B, 0x004C, 0x004E, 0x004F, 
   0x0050, 0x0052, 0x0053, 0x0054, 0x0056, 0x0057, 0x0058, 0x005A, 0x005B, 0x005C, 
   0x005E, 0x005F, 0x0060, 0x0062, 0x0063, 0x0064, 0x0066, 0x0067, 0x0068, 0x006A, 
   0x006B, 0x006C, 0x006E, 0x006F, 0x0070, 0x0072, 0x0073, 0x0074, 0x0076, 0x0077, 
   0x0078, 0x007A, 0x007B, 0x007C, 0x007E, 0x007F, 0x0080, 0x0082, 0x0083, 0x0084, 
   0x0086, 0x0087, 0x0088, 0x008A, 0x008B, 0x008C, 0x008E, 0x008F, 0x0090, 0x0092, 
   0x0093, 0x0094, 0x0096, 0x0097, 0x0098, 0x009A, 0x009B, 0x009C, 0x009E, 0x009F, 
   0x00A0, 0x00A2, 0x00A3, 0x00A4, 0x00A6, 0x00A7, 0x00A8, 0x00AA, 0x00AB, 0x00AC, 
   0x00AE, 0x00AF, 0x00B0, 0x00B2, 0x00B3, 0x00B4, 0x00B6, 0x00B7, 0x00B8, 0x00BA, 
   0x00BB, 0x00BC, 0x00BE, 0x00BF, 0x00C0, 0x00C2, 0x00C3, 0x00C4, 0x00C6, 0x00C7, 
   0x00C8, 0x00CA, 0x00CB, 0x00CC, 0x00CE, 0x00CF, 0x00D0, 0x00D2, 0x00D3, 0x00D4, 
   0x00D6, 0x00D7, 0x00D8, 0x00DA, 0x00DB, 0x00DC, 0x00DE, 0x00DF, 0x00E0, 0x00E2, 
   0x00E3, 0x00E4, 0x00E6, 0x00E7, 0x00E8, 0x00EA, 0x00EB, 0x00EC, 0x00EE, 0x00EF, 
   0x00F0, 0x00F2, 0x00F3, 0x00F4, 0x00F6, 0x00F7, 0x00F8, 0x00FA, 0x00FB, 0x00FC, 
   0x00FE, 0x00FF, 0x0100, 0x0102, 0x0103, 0x0104, 0x0106, 0x0107, 0x0108, 0x010A, 
   0x010B, 0x010C, 0x010E, 0x010F, 0x0110, 0x0112, 0x0113, 0x0114, 0x0116, 0x0117, 
   0x0118, 0x011A, 0x011B, 0x011C, 0x011E, 0x011F, 0x0120, 0x0122, 0x0123, 0x0124, 
   0x0126, 0x0127, 0x0128, 0x012A, 0x012B, 0x012C, 0x012E, 0x012F, 0x0130, 0x0132, 
   0x0133, 0x0134, 0x0136, 0x0137, 0x0138, 0x013A, 0x013B, 0x013C, 0x013E, 0x013F, 
   0x0140, 0x0142, 0x0143, 0x0144, 0x0146, 0x0147, 0x0148, 0x014A, 0x014B, 0x014C, 
   0x014E, 0x014F, 0x0150, 0x0152, 0x0153 }

Definition at line 40 of file kb_lrf.c.

Referenced by kb_lrf_GetDataFromLRF(), and kb_lrf_SendCommand().

unsigned short CertifiedCode

Definition at line 86 of file kb_lrf.c.

Referenced by kb_lrf_AcquireCertifiedCode(), and kb_lrf_CertifyLink().

unsigned char kb_lrf_Data[MAX_DATA_BYTES]

Definition at line 78 of file kb_lrf.c.

Referenced by kb_lrf_AcquireCertifiedCode(), kb_lrf_CertifyLink(), kb_lrf_FetchDistanceFromLRF(), and kb_lrf_GetDataFromLRF().

unsigned short kb_lrf_DistanceData[121]

Definition at line 80 of file kb_lrf.c.

Referenced by kb_lrf_GetDistances(), koa_lrf_task(), and lrfmeasure().

unsigned short kb_lrf_DistanceDataSensor[121]

Definition at line 82 of file kb_lrf.c.

Referenced by kb_lrf_FetchDistanceFromLRF(), and kb_lrf_GetDistances().

unsigned long kb_lrf_DistanceDataSum[121]

Definition at line 83 of file kb_lrf.c.

Referenced by kb_lrf_GetDistances().

int kb_lrf_DistanceGoodCounter[121]

Definition at line 84 of file kb_lrf.c.

Referenced by kb_lrf_GetDistances().


Defines
#define	DISTANCE_READINGS_TO_AVERAGE 3
#define	MAX_TIMEOUT_IN_MS 500
#define	MAX_DATA_BYTES 246
#define	device "/dev/tts/2"
#define	PXA_INT0 8
#define	OUT 0
#define	STX 2
#define	ETX 3
#define	LRF_PORT "/dev/tts/2"
#define	HKO_POLY 0x1021
Functions
int	kb_lrf_OpenComPort (void)
void	kb_lrf_FlushSerPort (int LRF_DeviceHandle)
unsigned char	kb_lrf_lsb_to_msb (unsigned char lsb)
unsigned short	kb_lrf_GenerateCRC (unsigned char *buf, int count)
int	kb_lrf_GetDataFromLRF (int LRF_DeviceHandle, int TotalBytes)
int	kb_lrf_SendCommand (int LRF_DeviceHandle, char *LRF_Command, int LRF_CommandLength)
int	kb_lrf_AcquireCertifiedCode (int LRF_DeviceHandle)
int	kb_lrf_CertifyLink (int LRF_DeviceHandle)
void	kb_lrf_pwrOn (void)
void	kb_lrf_pwrOff (void)
int	kb_lrf_Init (char *LRF_DeviceName)
void	kb_lrf_Close (int LRF_DeviceHandle)
int	kb_lrf_FetchDistanceFromLRF (int LRF_DeviceHandle)
int	kb_lrf_GetDistances (int LRF_DeviceHandle)
Variables
unsigned short	calcTable []
unsigned char	kb_lrf_Data [MAX_DATA_BYTES]
unsigned short	kb_lrf_DistanceData [121]
unsigned short	kb_lrf_DistanceDataSensor [121]
unsigned long	kb_lrf_DistanceDataSum [121]
int	kb_lrf_DistanceGoodCounter [121]
unsigned short	CertifiedCode