Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.

Dependencies:   ConfigFile HCSR04 PID PPM2 mbed-rtos mbed

SRFO2/SRFO2.cpp

Committer:
edy05
Date:
2017-10-26
Revision:
2:d172c9963f87

File content as of revision 2:d172c9963f87:

#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);    
}