Diff: SRFO2/SRFO2.cpp

Revision:

2:d172c9963f87

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SRFO2/SRFO2.cpp	Thu Oct 26 15:54:47 2017 +0000
@@ -0,0 +1,91 @@
+#include "srf02.h"
+ 
+SRF02::SRF02(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr)
+{
+}
+ 
+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;
+ 
+ 
+    // Get range data from SRF02 in centimeters
+    cmd[0] = 0x00;                      
+    cmd[1] = 0x51;                     
+    m_i2c.write(m_addr, cmd, 2);          
+ 
+    wait_ranging();
+ 
+ 
+    cmd[0] = 0x02;                        
+    m_i2c.write(m_addr, cmd, 1, 1);        
+    m_i2c.read(m_addr, eco_high, 1);            
+    
+    cmd[0] = 0x03;
+    m_i2c.write(m_addr,cmd,1,1);
+    m_i2c.read(m_addr,eco_low,1);
+ 
+    int range = (eco_high[0]<<8)|eco_low[0];
+ 
+    return range;
+}
+ 
+//Get the data in inches
+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;
+ 
+    cmd[0] = 0x00;                      
+    cmd[1] = 0x50;                     
+    m_i2c.write(m_addr, cmd, 2);          
+ 
+    wait_ranging();
+    
+    cmd[0] = 0x02;                        
+    m_i2c.write(m_addr, cmd, 1, 1);        
+    m_i2c.read(m_addr, eco_high, 1);            
+    
+    cmd[0] = 0x03;
+    m_i2c.write(m_addr,cmd,1,1);
+    m_i2c.read(m_addr,eco_low,1);
+ 
+    int range = (eco_high[0]<<8)|eco_low[0];
+ 
+    return range;
+}
+ 
+//Change adress of the device. Remember to have only one sensor conected to execute this method.
+void SRF02::change_addr(char new_addr)
+{
+ char cmd[2];
+    
+    cmd[0]=0x00;
+    cmd[1]=0xA0;
+    m_i2c.write(m_addr,cmd,2);
+    cmd[0]=0x00;
+    cmd[1]=0xAA;
+    m_i2c.write(m_addr,cmd,2);
+    cmd[0]=0x00;
+    cmd[1]=0xA5;
+    m_i2c.write(m_addr,cmd,2);
+    cmd[0]=0x00;
+    cmd[1]=new_addr;
+    m_i2c.write(m_addr,cmd,2);
+    
+    }
+    
+void SRF02::wait_ranging(void)
+{
+ char eco;
+ 
+    do {
+        eco=m_i2c.read(1);
+    }while(eco == 0xff);    
+}    
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