Revision 0:f0cf55dd23f6, committed 2011-05-02

Comitter:

go2dev

Date:

Mon May 02 18:44:46 2011 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r f0cf55dd23f6 SRF02.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SRF02.cpp	Mon May 02 18:44:46 2011 +0000
@@ -0,0 +1,76 @@
+/*Library for SRF02 ultrasonic range finder*/
+#include "SRF02.h"
+
+SRF02::SRF02(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr){
+    //no initialisation code required here
+    }
+    
+SRF02::~SRF02(){
+
+}
+
+float SRF02::distancecm(){
+    //local variables
+    const char m_addr = 0xE0;  //srf02 default slave address
+    char commandsequence[2];
+    
+    // Get range data from SRF02 in cm
+        // Send Tx burst command over I2C bus
+        commandsequence[0] = 0x00;               // Command register
+        commandsequence[1] = 0x51;               // Ranging results in cm
+        m_i2c.write(m_addr, commandsequence, 2); // Request ranging from sensor
+        wait(0.07);  // Average wait time for sonar pulse and processing
+        // Read back range over I2C bus
+        commandsequence[0] = 0x02;                   // 
+        m_i2c.write(m_addr, commandsequence, 1, 1);  // 
+        m_i2c.read(m_addr, commandsequence, 2);             // Read two-byte echo result
+        //combine upper and lower bytes in to a single value
+        float range = ((commandsequence[0] << 8) + commandsequence[1]);
+        return range;
+
+}
+
+float SRF02::distancein(){
+    //local variables
+    const char m_addr = 0xE0;  //srf02 default slave address
+    char commandsequence[2];
+    
+    // Get range data from SRF02 in cm
+        // Send Tx burst command over I2C bus
+        commandsequence[0] = 0x00;               // Command register
+        commandsequence[1] = 0x50;               // Ranging results in cm
+        m_i2c.write(m_addr, commandsequence, 2); // Request ranging from sensor
+        wait(0.07);  // Average wait time for sonar pulse and processing
+        // Read back range over I2C bus
+        commandsequence[0] = 0x02;                   // 
+        m_i2c.write(m_addr, commandsequence, 1, 1);  // 
+        m_i2c.read(m_addr, commandsequence, 2);             // Read two-byte echo result
+        //combine upper and lower bytes in to a single value
+        float range = ((commandsequence[0] << 8) + commandsequence[1]);
+        return range;
+
+}
+
+float SRF02::distanceus(){
+    //local variables
+    const char m_addr = 0xE0;  //srf02 default slave address
+    char commandsequence[2];
+    
+    // Get range data from SRF02 in cm
+        // Send Tx burst command over I2C bus
+        commandsequence[0] = 0x00;               // Command register
+        commandsequence[1] = 0x52;               // Ranging results in cm
+        m_i2c.write(m_addr, commandsequence, 2); // Request ranging from sensor
+        wait(0.07);  // Average wait time for sonar pulse and processing
+        // Read back range over I2C bus
+        commandsequence[0] = 0x02;                   // 
+        m_i2c.write(m_addr, commandsequence, 1, 1);  // 
+        m_i2c.read(m_addr, commandsequence, 2);             // Read two-byte echo result
+        //combine upper and lower bytes in to a single value
+        float range = ((commandsequence[0] << 8) + commandsequence[1]);
+        return range;
+
+}
+
+
+

diff -r 000000000000 -r f0cf55dd23f6 SRF02.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SRF02.h	Mon May 02 18:44:46 2011 +0000
@@ -0,0 +1,38 @@
+/*Header file for the SRF02 sonar range finder class*/
+#ifndef SRF02_H
+#define SRF02_H
+
+#include "mbed.h"
+
+//!Library for the SRF02 Ultrasonic Ranger
+/*!
+The SRF02 is an Ultrasonic range finder, with an I2C interface that allows the measurement to be read directly in centimetres
+*/
+
+class SRF02
+{
+public:
+    //Create an instance of the class
+    //Connect the peripheral over I2C using pins defined by sda and scl
+    SRF02(PinName sda, PinName scl, int addr);
+    
+    //Destroys an instance
+    ~SRF02();
+    
+    //Read the distance in cm
+    float distancecm();
+    
+    //Read the distance in in
+    float distancein();
+    
+    //Read the distance in microseconds
+    float distanceus();
+
+
+private:
+    I2C m_i2c;
+    int m_addr;
+    
+    
+};
+#endif
\ No newline at end of file

diff -r 000000000000 -r f0cf55dd23f6 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 02 18:44:46 2011 +0000
@@ -0,0 +1,28 @@
+#include "mbed.h"
+#include "SRF02.h"
+
+
+Serial debugport(USBTX,USBRX);
+SRF02 mySensor(p9,p10,0xE0);
+
+
+
+
+main() {
+    
+    time_t seconds = time(NULL); //Internal RTC
+    debugport.baud(115200); //set the buadrate (default is 9600 if this command is not used)
+    debugport.format(8,Serial::None,1); //config the serial port (default is 8N1)
+    debugport.printf("Hello World! %d \r\n", seconds); //send a message out of the serial port to check all is well
+    //include a time stamp for reference (seconds since power up)
+   
+   
+    while (1) {
+    
+        
+         debugport.printf("current distance: %.2f cm.\r\n", mySensor.distancecm());
+         debugport.printf("current distance: %.2f inches.\r\n", mySensor.distancein());
+         debugport.printf("current flightime: %.2f microseconds.\r\n", mySensor.distanceus());
+        
+    }
+}

diff -r 000000000000 -r f0cf55dd23f6 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon May 02 18:44:46 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e