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);
    }
}

MjGP2Y0E03.cpp

Committer:
matsujirushi
Date:
2014-11-26
Revision:
1:1832cde75561
Parent:
0:33c4a1de6547

File content as of revision 1:1832cde75561:

#include "MjGP2Y0E03.h"

#define IMAGE_SENSOR_DATA_NUMBER    (220)

namespace matsujirushi {

MjGP2Y0E03::MjGP2Y0E03(I2C* i2c, uint8_t address)
{
    this->i2c = i2c;
    this->address = address;
}

uint16_t MjGP2Y0E03::getDistance()
{
    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));
    
    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
    
    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