Library for interfacing the SRF08 ultrasonic range sensor. Most functions of the SRF08 are covered, including interrupt-based waiting for the ranging process to finish
Dependents: DISCO-F746NG_LCDTS_demo Srf08Test
SRF08
Warning
Don't forget to add the pullup resistors from 5v to SDA and SCL!
Information on the SRF08 can be found here: http://www.robot-electronics.co.uk/htm/srf08tech.shtml
Example program
#include "mbed.h" #include "SRF08.h" Serial PC(USBTX, USBRX); //Debug port to PC SRF08 rangeMod1(p28, p27, 0xE4); //SRF08 ranging module 1 SRF08 rangeMod2(p28, p27, 0xE2); //SRF08 ranging module 2 int main() { PC.printf("Start ranging test \n"); rangeMod1.setAddress(0xE4); //Factory default is 0xE0 while(1) { rangeMod1.startRanging(); while (!rangeMod1.rangingFinished() ) wait(0.01); int range1 = rangeMod1.getRange(); int light1 = rangeMod1.getLightIntensity(); rangeMod2.startRanging(); while (!rangeMod2.rangingFinished() ) wait(0.01); int range2 = rangeMod2.getRange(); PC.printf(" Range_1: %i", range1); PC.printf(" Range_2: %i", range2); PC.printf(" Light_1: %i", light1); PC.printf("\n"); } }
Library
Import library
Public Member Functions |
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SRF08 (PinName SDA, PinName SCL, int i2cAddress) | |
Create a
SRF08
object connected to the specified I2C pins and address.
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void | startRanging () |
Send the "Start ranging in cm" command via I2C.
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bool | rangingFinished () |
Checks if the module has finished ranging.
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int | getRange () |
Gets the measured range from the module.
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int | getLightIntensity () |
Gets the measured light intensity from the module.
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void | setRangeRegister (unsigned char rangeVal) |
Sets the range register of the
SRF08
for faster ranging.
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void | setMaxGainRegister (unsigned char gainVal) |
Sets the max gain register of the
SRF08
.
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void | setAddress (int i2cAddress) |
Changes the I2C address of the
SRF08
.
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SRF08.h
- Committer:
- brentdekker
- Date:
- 2012-07-11
- Revision:
- 4:a11bd4ea3c18
- Parent:
- 2:ca82f89f415d
File content as of revision 4:a11bd4ea3c18:
/* Copyright (c) 2012 Brent Dekker Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #ifndef SRF08_H #define SRF08_H #include "mbed.h" /** * The SRF08 is an ultrasonic range finder with an I2C interface that allows * the measurement to be read directly in centimetres. More information can be * found on this website: http://www.robot-electronics.co.uk/htm/srf08tech.shtml */ class SRF08 { public: /** * Create a SRF08 object connected to the specified I2C pins and address * * @param SDA I2C SDA pin to connect to * @param SCL I2C SCL pin to connect to * @param i2cAddress Address of WSRF08 on I2C bus */ SRF08(PinName SDA, PinName SCL, int i2cAddress); /** * Send the "Start ranging in cm" command via I2C */ void startRanging(); /** * Checks if the module has finished ranging * * @param returns Boolean stating module is finished or not */ bool rangingFinished(); /** * Gets the measured range from the module * * @param returns Integer range in centimetre */ int getRange(); /** * Gets the measured light intensity from the module * * @param returns A normalised number 0-255 representing dark to light */ int getLightIntensity(); /** * Sets the range register of the SRF08 for faster ranging. * * The max range is ((rangeVal x 43mm) + 43mm). The sensors maximum range * is about six metres * * @param rangeVal The value written to the range register of the SRF08 */ void setRangeRegister(unsigned char rangeVal); /** * Sets the max gain register of the SRF08. * * @param gainVal The value written to the max gain register of the SRF08 */ void setMaxGainRegister(unsigned char gainVal); /** * Changes the I2C address of the SRF08. * * The factory default address is 0x0E (224) * The address can have the following values: * E0 | E2 | E4 | E6 ... FC | FE * * @param i2cAddress The new I2C address for the SRF08. */ void setAddress(int i2cAddress); protected: I2C i2cMod; unsigned char i2cAddress; Timeout rangeTimeout; bool rangingBusy; void setRangingFinished(); }; #endif