Takashi Matsuoka / MjGP2Y0E03

For Sharp GP2Y0E03(optical distance measurement sensor).

#include "mbed.h"
#include "MjGP2Y0E03.h"

using namespace matsujirushi;

Serial pc(USBTX, USBRX);
I2C i2c(dp5, dp27);
MjGP2Y0E03 distanceSensor(&i2c, 0x80);

int main()
{
    pc.baud(115200);
    i2c.frequency(400000);
    for(;;)
    {
        uint16_t distance = distanceSensor.getDistance();
        
        pc.printf("%4d [", distance);
        int i;
        for (i = 0; i < distance / 50; i++)
        {
            pc.putc('*');
        }
        for (; i < 4096 / 50; i++)
        {
            pc.putc(' ');
        }
        pc.puts("]\r\n");
        
        wait_ms(50);
    }
}

Diff: MjGP2Y0E03.cpp

Revision:
1:1832cde75561
Parent:
0:33c4a1de6547
--- a/MjGP2Y0E03.cpp	Mon Nov 24 07:51:53 2014 +0000
+++ b/MjGP2Y0E03.cpp	Wed Nov 26 12:00:04 2014 +0000
@@ -1,5 +1,7 @@
 #include "MjGP2Y0E03.h"
 
+#define IMAGE_SENSOR_DATA_NUMBER    (220)
+
 namespace matsujirushi {
 
 MjGP2Y0E03::MjGP2Y0E03(I2C* i2c, uint8_t address)
@@ -10,13 +12,71 @@
 
 uint16_t MjGP2Y0E03::getDistance()
 {
-    char regAddress = 0x5e;
-    i2c->write(address, &regAddress, 1, true);
+    uint8_t data[2];
+
+    read(0x5e, data, sizeof (data));   // Distance
+
+    return ((uint16_t)data[0] << 4) + (data[1] & 0x0f);
+}
+
+bool MjGP2Y0E03::getImageSensorData(uint32_t *data, size_t dataSize, size_t *dataSizeActual)
+{
+    if (dataSize < sizeof (uint32_t) * 220)
+    {
+        if (dataSizeActual != NULL)
+        {
+            *dataSizeActual = sizeof (uint32_t) * 220;
+        }
+        return false;
+    }
+    
+//    write(0xef, 0x00);  // Bank Select = Bank0
+//    write(0xec, 0xff);  // Clock Select = manual clock
+//    wait_ms(80);
+    
+    write(0x03, 0x00);  // Hold Bit = Hold
+    wait_ms(80);
+    
+    write(0x4c, 0x10);  // SRAM Access = Access SRAM
+    wait_ms(80);
+    
+    uint8_t dataL[IMAGE_SENSOR_DATA_NUMBER];
+    write(0x90, 0x10);  // Read out Image Sensor Data = Low Level
+    read(0x00, dataL, sizeof (dataL));
     
-    char data[2];
-    i2c->read(address, data, sizeof (data));
+    uint8_t dataM[IMAGE_SENSOR_DATA_NUMBER];
+    write(0x90, 0x11);  // Read out Image Sensor Data = Middle Level
+    read(0x00, dataM, sizeof (dataM));
+    
+    uint8_t dataH[IMAGE_SENSOR_DATA_NUMBER];
+    write(0x90, 0x12);  // Read out Image Sensor Data = High Level
+    read(0x00, dataH, sizeof (dataH));
+
+    write(0x90, 0x00);  // Read out Image Sensor Data = Disable
+    write(0x03, 0x01);  // Hold Bit = Device enable normally
     
-    return ((uint16_t)data[0] << 4) + (data[1] & 0x0f);
+    for (int i = 0; i < IMAGE_SENSOR_DATA_NUMBER; i++)
+    {
+        *data++ = dataH[i] * 65536 + dataM[i] * 256 + dataL[i];
+    }
+    if (dataSizeActual != NULL)
+    {
+        *dataSizeActual = sizeof (uint32_t) * 220;
+    }
+
+    return true;    
+}
+
+void MjGP2Y0E03::read(uint8_t regAddress, uint8_t *data, size_t dataSize)
+{
+    i2c->write(address, (char*)&regAddress, 1, true);
+    i2c->read(address, (char*)data, dataSize);
+}
+
+void MjGP2Y0E03::write(uint8_t regAddress, uint8_t data)
+{
+    char buffer[] = { regAddress, data, };
+    i2c->write(address, buffer, sizeof (buffer));
 }
 
 } // namespace matsujirushi