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@1:1832cde75561, 2014-11-26 (annotated)

Committer:
matsujirushi
Date:
Wed Nov 26 12:00:04 2014 +0000
Revision:
1:1832cde75561
Parent:
0:33c4a1de6547 
Add getImageSensorData() function.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matsujirushi 0:33c4a1de6547 1 #include "MjGP2Y0E03.h"
matsujirushi 0:33c4a1de6547 2
matsujirushi 1:1832cde75561 3 #define IMAGE_SENSOR_DATA_NUMBER (220)
matsujirushi 1:1832cde75561 4
matsujirushi 0:33c4a1de6547 5 namespace matsujirushi {
matsujirushi 0:33c4a1de6547 6
matsujirushi 0:33c4a1de6547 7 MjGP2Y0E03::MjGP2Y0E03(I2C* i2c, uint8_t address)
matsujirushi 0:33c4a1de6547 8 {
matsujirushi 0:33c4a1de6547 9 this->i2c = i2c;
matsujirushi 0:33c4a1de6547 10 this->address = address;
matsujirushi 0:33c4a1de6547 11 }
matsujirushi 0:33c4a1de6547 12
matsujirushi 0:33c4a1de6547 13 uint16_t MjGP2Y0E03::getDistance()
matsujirushi 0:33c4a1de6547 14 {
matsujirushi 1:1832cde75561 15 uint8_t data[2];
matsujirushi 1:1832cde75561 16
matsujirushi 1:1832cde75561 17 read(0x5e, data, sizeof (data)); // Distance
matsujirushi 1:1832cde75561 18
matsujirushi 1:1832cde75561 19 return ((uint16_t)data[0] << 4) + (data[1] & 0x0f);
matsujirushi 1:1832cde75561 20 }
matsujirushi 1:1832cde75561 21
matsujirushi 1:1832cde75561 22 bool MjGP2Y0E03::getImageSensorData(uint32_t *data, size_t dataSize, size_t *dataSizeActual)
matsujirushi 1:1832cde75561 23 {
matsujirushi 1:1832cde75561 24 if (dataSize < sizeof (uint32_t) * 220)
matsujirushi 1:1832cde75561 25 {
matsujirushi 1:1832cde75561 26 if (dataSizeActual != NULL)
matsujirushi 1:1832cde75561 27 {
matsujirushi 1:1832cde75561 28 *dataSizeActual = sizeof (uint32_t) * 220;
matsujirushi 1:1832cde75561 29 }
matsujirushi 1:1832cde75561 30 return false;
matsujirushi 1:1832cde75561 31 }
matsujirushi 1:1832cde75561 32
matsujirushi 1:1832cde75561 33 // write(0xef, 0x00); // Bank Select = Bank0
matsujirushi 1:1832cde75561 34 // write(0xec, 0xff); // Clock Select = manual clock
matsujirushi 1:1832cde75561 35 // wait_ms(80);
matsujirushi 1:1832cde75561 36
matsujirushi 1:1832cde75561 37 write(0x03, 0x00); // Hold Bit = Hold
matsujirushi 1:1832cde75561 38 wait_ms(80);
matsujirushi 1:1832cde75561 39
matsujirushi 1:1832cde75561 40 write(0x4c, 0x10); // SRAM Access = Access SRAM
matsujirushi 1:1832cde75561 41 wait_ms(80);
matsujirushi 1:1832cde75561 42
matsujirushi 1:1832cde75561 43 uint8_t dataL[IMAGE_SENSOR_DATA_NUMBER];
matsujirushi 1:1832cde75561 44 write(0x90, 0x10); // Read out Image Sensor Data = Low Level
matsujirushi 1:1832cde75561 45 read(0x00, dataL, sizeof (dataL));
matsujirushi 0:33c4a1de6547 46
matsujirushi 1:1832cde75561 47 uint8_t dataM[IMAGE_SENSOR_DATA_NUMBER];
matsujirushi 1:1832cde75561 48 write(0x90, 0x11); // Read out Image Sensor Data = Middle Level
matsujirushi 1:1832cde75561 49 read(0x00, dataM, sizeof (dataM));
matsujirushi 1:1832cde75561 50
matsujirushi 1:1832cde75561 51 uint8_t dataH[IMAGE_SENSOR_DATA_NUMBER];
matsujirushi 1:1832cde75561 52 write(0x90, 0x12); // Read out Image Sensor Data = High Level
matsujirushi 1:1832cde75561 53 read(0x00, dataH, sizeof (dataH));
matsujirushi 1:1832cde75561 54
matsujirushi 1:1832cde75561 55 write(0x90, 0x00); // Read out Image Sensor Data = Disable
matsujirushi 1:1832cde75561 56 write(0x03, 0x01); // Hold Bit = Device enable normally
matsujirushi 0:33c4a1de6547 57
matsujirushi 1:1832cde75561 58 for (int i = 0; i < IMAGE_SENSOR_DATA_NUMBER; i++)
matsujirushi 1:1832cde75561 59 {
matsujirushi 1:1832cde75561 60 *data++ = dataH[i] * 65536 + dataM[i] * 256 + dataL[i];
matsujirushi 1:1832cde75561 61 }
matsujirushi 1:1832cde75561 62 if (dataSizeActual != NULL)
matsujirushi 1:1832cde75561 63 {
matsujirushi 1:1832cde75561 64 *dataSizeActual = sizeof (uint32_t) * 220;
matsujirushi 1:1832cde75561 65 }
matsujirushi 1:1832cde75561 66
matsujirushi 1:1832cde75561 67 return true;
matsujirushi 1:1832cde75561 68 }
matsujirushi 1:1832cde75561 69
matsujirushi 1:1832cde75561 70 void MjGP2Y0E03::read(uint8_t regAddress, uint8_t *data, size_t dataSize)
matsujirushi 1:1832cde75561 71 {
matsujirushi 1:1832cde75561 72 i2c->write(address, (char*)&regAddress, 1, true);
matsujirushi 1:1832cde75561 73 i2c->read(address, (char*)data, dataSize);
matsujirushi 1:1832cde75561 74 }
matsujirushi 1:1832cde75561 75
matsujirushi 1:1832cde75561 76 void MjGP2Y0E03::write(uint8_t regAddress, uint8_t data)
matsujirushi 1:1832cde75561 77 {
matsujirushi 1:1832cde75561 78 char buffer[] = { regAddress, data, };
matsujirushi 1:1832cde75561 79 i2c->write(address, buffer, sizeof (buffer));
matsujirushi 0:33c4a1de6547 80 }
matsujirushi 0:33c4a1de6547 81
matsujirushi 0:33c4a1de6547 82 } // namespace matsujirushi
matsujirushi 0:33c4a1de6547 83