Revision 1:d624771f0bd3, committed 2013-02-09

Comitter:

dury

Date:

Sat Feb 09 22:26:47 2013 +0000

Parent:

0:559a18121e83

Commit message:

This library contains all the functions necesary to perform an application using the SRF02 sensor.; Modified: replaced wait() functions that are not usefull for program performance.

Changed in this revision

--- a/SRF02.cpp	Fri Feb 25 17:23:42 2011 +0000
+++ b/SRF02.cpp	Sat Feb 09 22:26:47 2013 +0000
@@ -1,27 +1,26 @@
 #include "SRF02.h"
 
+SRF02::SRF02(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr)
+{
+}
 
-SRF02::SRF02(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
-    }
-
-SRF02::~SRF02() {
-
+SRF02::~SRF02()
+{
 }
 
 //Get the data in centimeters
-
-int SRF02::readcm() {
-
-    char cmd[2];
-    char eco_high[1],eco_low[1]; //this is because the sensor, sends the data in tow bytes, and  you have tu read from two different registers 0x02 and 0x03;
+int SRF02::readcm()
+{
+ char cmd[2];
+ char eco_high[1],eco_low[1]; //this is because the sensor, sends the data in tow bytes, and  you have tu read from two different registers 0x02 and 0x03;
 
 
-// Get range data from SRF02 in centimeters
+    // Get range data from SRF02 in centimeters
     cmd[0] = 0x00;                      
     cmd[1] = 0x51;                     
     m_i2c.write(m_addr, cmd, 2);          
 
-    wait(0.07);                         
+    wait_ranging();
 
 
     cmd[0] = 0x02;                        
@@ -38,21 +37,17 @@
 }
 
 //Get the data in inches
-
-int SRF02::readinch() {
+int SRF02::readinch()
+{
+ char cmd[2];
+ char eco_high[1],eco_low[1]; //this is because the sensor, sends the data in tow bytes, and  you have tu read from two different registers 0x02 and 0x03;
 
-    char cmd[2];
-    char eco_high[1],eco_low[1]; //this is because the sensor, sends the data in tow bytes, and  you have tu read from two different registers 0x02 and 0x03;
-
-
-// Get range data from SRF02 in inches
     cmd[0] = 0x00;                      
     cmd[1] = 0x50;                     
     m_i2c.write(m_addr, cmd, 2);          
 
-    wait(0.07);                         
-
-
+    wait_ranging();
+    
     cmd[0] = 0x02;                        
     m_i2c.write(m_addr, cmd, 1, 1);        
     m_i2c.read(m_addr, eco_high, 1);            
@@ -66,11 +61,10 @@
     return range;
 }
 
-void SRF02::change_addr(char new_addr){
-
 //Change adress of the device. Remember to have only one sensor conected to execute this method.
-
-    char cmd[2];
+void SRF02::change_addr(char new_addr)
+{
+ char cmd[2];
     
     cmd[0]=0x00;
     cmd[1]=0xA0;
@@ -86,4 +80,13 @@
     m_i2c.write(m_addr,cmd,2);
     
     }
+    
+void SRF02::wait_ranging(void)
+{
+ char eco;
+ 
+    do {
+        eco=m_i2c.read(1);
+    }while(eco == 0xff);    
+}    
     
\ No newline at end of file

--- a/SRF02.h	Fri Feb 25 17:23:42 2011 +0000
+++ b/SRF02.h	Sat Feb 09 22:26:47 2013 +0000
@@ -4,34 +4,38 @@
 #include "mbed.h"
 
 
-
+/** Library to control SRF02 ultrasonic sensor */
 class SRF02
 {
-public:
-  //!Creates an instance of the class.
-  /*!
-  Connect module at I2C address addr using I2C port pins sda and scl.
-  SRF08
-  */
-  SRF02(PinName sda, PinName scl, int addr);
+ public:
+    /** Creates an instance of the class
+    *
+    * @param sda I2C sda Pin
+    * @param scl I2C scl Pin
+    */
+    SRF02(PinName sda, PinName scl, int addr);
   
-  /*!
-  Destroys instance.
-  */ 
-  ~SRF02();
+    /** Destroys instance */
+    ~SRF02();
   
-  
-  int readcm();     //Read the range data in centimeters
- 
-  int readinch();   //Read the range data in inches
+    /** Read the range data in centimeters */
+    int readcm();     
+
+    /** Read the range data in inches */
+    int readinch();
   
-  void change_addr(char new_addr);      //Change the adress of the device. This is very usefull when there are more sensors.
-                                        //This function must be executed with only one sensor conected.
-  
+    /** Change the adress of the device. This is very usefull when there are more sensors.
+    * This function must be executed with only one sensor conected.
+    */
+    void change_addr(char new_addr);
   
-private:
-  I2C m_i2c;
-  int m_addr;
+ private:
+    /** wait for ranging to complete
+    * This function is for internal use
+    */
+    void wait_ranging(void);                                        
+    I2C m_i2c;
+    int m_addr;
 
 };