From 018017f255c3b9f22f1affed13426ef626c92bb6 Mon Sep 17 00:00:00 2001
From: "timo.altan" <timo.altan@th-koeln.de>
Date: Tue, 15 Aug 2023 08:48:45 +0200
Subject: [PATCH] =?UTF-8?q?Kommentare=20erg=C3=A4nzt?=
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---
bits_time_of_flight_controller.cpp | 7 +++++++
bits_time_of_flight_controller.h | 9 ++++++---
2 files changed, 13 insertions(+), 3 deletions(-)
diff --git a/bits_time_of_flight_controller.cpp b/bits_time_of_flight_controller.cpp
index 4fb04bb..68fd092 100644
--- a/bits_time_of_flight_controller.cpp
+++ b/bits_time_of_flight_controller.cpp
@@ -6,18 +6,23 @@ bits_TimeOfFlightController::bits_TimeOfFlightController(const uint16_t max_dist
void bits_TimeOfFlightController::init() {
bool found_any_sensors = false;
+ // Deaktivieren aller Sensoren
for (int i = 0; i < SENSOR_COUNT; i++)
{
pinMode(sensors[i].shutdown_pin, OUTPUT);
+
digitalWrite(sensors[i].shutdown_pin, LOW);
}
delay(10);
+ // Die Sensoren nach einander aktivieren und initalisieren
for (int i = 0; i < SENSOR_COUNT; i++)
{
digitalWrite(sensors[i].shutdown_pin, HIGH);
+
delay(100);
+
if (sensors[i].psensor->begin(sensors[i].id, false, sensors[i].pwire, sensors[i].sensor_config))
{
found_any_sensors = true;
@@ -31,6 +36,7 @@ void bits_TimeOfFlightController::init() {
if (!found_any_sensors)
{
_println_tof_("No valid sensors found");
+
while (1)
{
;
@@ -44,6 +50,7 @@ int bits_TimeOfFlightController::get_distance_mm(int index) {
sensors[index].psensor->rangingTest(&measure, false); // 'true' um debug Informationen auszugeben
int distance;
+
if ((measure.RangeStatus != 4) && (measure.RangeMilliMeter < max_distance))
{
distance = measure.RangeMilliMeter;
diff --git a/bits_time_of_flight_controller.h b/bits_time_of_flight_controller.h
index e65bc69..ab5577f 100644
--- a/bits_time_of_flight_controller.h
+++ b/bits_time_of_flight_controller.h
@@ -1,5 +1,5 @@
/*
- * Klasse: BITsTimeOfFlight
+ * Klasse: bits_TimeOfFlightController
*
* Zur erzeugung eines Arrays gefüllt mit Objekten für die Ansteuerung von mehreren VL53L0X Time of Flight Sensoren
*
@@ -29,11 +29,12 @@ public:
int get_distance_mm(int index);
private:
-const uint16_t max_distance = 4000;
- static const int SENSOR_COUNT = 5;
+ const uint16_t max_distance = 4000; // Maximal messbare Distanz
+ static const int SENSOR_COUNT = 5; // Sensoren Anzahl
int TOF_XSHUTS [SENSOR_COUNT] = {0, 8, 9, 23, 29}; // XShut Pins der einzelnen Time of Flight Sensoren
int TOF_ADDRESSES [SENSOR_COUNT] = {0x30, 0x31, 0x32, 0x33, 0x34}; // Adresse der einzelnen Time of Flight Sensoren
+ // Struktur der Sensor Liste
typedef struct
{
Adafruit_VL53L0X *psensor; // Zeiger zum Objekt
@@ -46,12 +47,14 @@ const uint16_t max_distance = 4000;
uint8_t sensor_status;
} sensorList_t;
+ // Sensor Objekte basierend auf der Adafruit Bibliothek
Adafruit_VL53L0X tof_sensor_1;
Adafruit_VL53L0X tof_sensor_2;
Adafruit_VL53L0X tof_sensor_3;
Adafruit_VL53L0X tof_sensor_4;
Adafruit_VL53L0X tof_sensor_5;
+ // Liste von Sensor Objekten
sensorList_t sensors [SENSOR_COUNT] =
{
{&tof_sensor_1, &Wire, TOF_ADDRESSES[0], TOF_XSHUTS[0], Adafruit_VL53L0X::VL53L0X_SENSE_DEFAULT, 0, 0},
--
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