ch101_gpr.h File Reference

Internal definitions for the Chirp CH101 GPR sensor firmware. More...

#include <stdint.h>
#include "ch101.h"
#include <invn/soniclib/ch_rangefinder.h>
#include <invn/soniclib/soniclib.h>

Go to the source code of this file.

Macros
#define	CH101_GPR_MAX_SAMPLES   (225)
#define	CH101_GPR_REG_AMPLITUDE   0x1A
#define	CH101_GPR_REG_CAL_RESULT   0x0A
#define	CH101_GPR_REG_CAL_TRIG   0x06
#define	CH101_GPR_REG_CAL_TRIG   0x06
#define	CH101_GPR_REG_DATA   0x1C
#define	CH101_GPR_REG_DCO_PERIOD   0x0E
#define	CH101_GPR_REG_IN_RINGDOWN   0x15
#define	CH101_GPR_REG_IN_RINGDOWN_IDX   0x04
#define	CH101_GPR_REG_IN_RINGDOWN_THS   0x08
#define	CH101_GPR_REG_MAX_RANGE   0x07
#define	CH101_GPR_REG_OPMODE   0x01
#define	CH101_GPR_REG_PERIOD   0x05
#define	CH101_GPR_REG_READY   0x14
#define	CH101_GPR_REG_REV_CYCLES   0x0C
#define	CH101_GPR_REG_ST_RANGE   0x12
#define	CH101_GPR_REG_TICK_INTERVAL   0x02
#define	CH101_GPR_REG_TOF   0x18
#define	CH101_GPR_REG_TOF_SF   0x16

Functions
uint8_t	ch101_gpr_get_in_ringdown_idx (ch_dev_t *dev_ptr)
	Get the sample index that defines the "in ringdown" region. More...
uint16_t	ch101_gpr_get_in_ringdown_ths (ch_dev_t *dev_ptr)
	Get the amplitude threshold for "in ringdown" detection. More...
uint8_t	ch101_gpr_get_target_in_ringdown (ch_dev_t *dev_ptr)
	Get the target "in ringdown" status. More...
uint8_t	ch101_gpr_init (ch_dev_t *dev_ptr, fw_info_t **fw_info)
void	ch101_gpr_set_in_ringdown_idx (ch_dev_t *dev_ptr, uint8_t in_ringdown_idx)
	Set the sample index for "in ringdown" status. More...
void	ch101_gpr_set_in_ringdown_ths (ch_dev_t *dev_ptr, uint16_t in_ringdown_ths)
	Set the amplitude threshold "in ringdown" status. More...
uint16_t	get_ch101_gpr_fw_ram_init_addr (void)
uint16_t	get_ch101_gpr_fw_ram_init_size (void)
const unsigned char *	get_ram_ch101_gpr_init_ptr (void)

Variables
const uint8_t	ch101_gpr_fw_text []
const uint8_t	ch101_gpr_fw_vec []
const uint16_t	ch101_gpr_text_size
const uint16_t	ch101_gpr_vec_size
const char *	ch101_gpr_version

Detailed Description

Internal definitions for the Chirp CH101 GPR sensor firmware.

This file contains register offsets and other values for use with the CH101 GPR sensor firmware. These values are subject to change without notice.

You should not need to edit this file or call the driver functions directly. Doing so will reduce your ability to benefit from future enhancements and releases from Chirp.

Function Documentation

ch101_gpr_get_in_ringdown_idx()

uint8_t ch101_gpr_get_in_ringdown_idx

(

ch_dev_t *

dev_ptr

)

Get the sample index that defines the "in ringdown" region.

Parameters

dev_ptr

pointer to the ch_dev_t descriptor structure

Returns

the sample index that defines the "in ringdown" region. If the range is under this value, the ch101_gpr_get_target_in_ringdown() function will return 1, otherwise 0.

Note

This is a beta function and might move or change name in a future release.

ch101_gpr_get_in_ringdown_ths()

uint16_t ch101_gpr_get_in_ringdown_ths

(

ch_dev_t *

dev_ptr

)

Get the amplitude threshold for "in ringdown" detection.

Parameters

dev_ptr

pointer to the ch_dev_t descriptor structure

Returns

the threshold in LSB applied to the second peak of the ringdown (sample 15) to recognize if a target is in the ringdown region

ch101_gpr_get_target_in_ringdown()

uint8_t ch101_gpr_get_target_in_ringdown

(

ch_dev_t *

dev_ptr

)

Get the target "in ringdown" status.

Parameters

dev_ptr

pointer to the ch_dev_t descriptor structure

Returns

0 if the target is absent or far away from the ringdown, 1 when the range is less than about 130mm (default and programmable using in_ringdown_idx parameter) on CH101 and less than about 200mm on CH201

For both sensors, when ch101_gpr_get_target_in_ringdown() goes from 0->1, it will remain at 1 for at least 4 measurements, to prevent glitches. When the target leaves the ringdown region there will be a 4 sample latency before ch101_gpr_get_target_in_ringdown() returns 0.

ch101_gpr_set_in_ringdown_idx()

void ch101_gpr_set_in_ringdown_idx	(	ch_dev_t *	dev_ptr,
		uint8_t	in_ringdown_idx
	)

Set the sample index for "in ringdown" status.

Parameters

dev_ptr

pointer to the ch_dev_t descriptor structure in_ringdown_idx the sample index that defines the "in ringdown" region. Default value is 17 samples equals at about 130mm.

ch101_gpr_set_in_ringdown_ths()

void ch101_gpr_set_in_ringdown_ths	(	ch_dev_t *	dev_ptr,
		uint16_t	in_ringdown_ths
	)

Set the amplitude threshold "in ringdown" status.

Parameters

dev_ptr

pointer to the ch_dev_t descriptor structure in_ringdown_ths the threshold in LSB applied to the second peak of the ringdown (sample 15) to recognize if a target is in the ringdown region. Default value is 3000