MjGP2Y0E03.cpp

00001 #include "MjGP2Y0E03.h"
00002 
00003 #define IMAGE_SENSOR_DATA_NUMBER    (220)
00004 
00005 namespace matsujirushi {
00006 
00007 MjGP2Y0E03::MjGP2Y0E03(I2C* i2c, uint8_t address)
00008 {
00009     this->i2c = i2c;
00010     this->address = address;
00011 }
00012 
00013 uint16_t MjGP2Y0E03::getDistance()
00014 {
00015     uint8_t data[2];
00016 
00017     read(0x5e, data, sizeof (data));   // Distance
00018 
00019     return ((uint16_t)data[0] << 4) + (data[1] & 0x0f);
00020 }
00021 
00022 bool MjGP2Y0E03::getImageSensorData(uint32_t *data, size_t dataSize, size_t *dataSizeActual)
00023 {
00024     if (dataSize < sizeof (uint32_t) * 220)
00025     {
00026         if (dataSizeActual != NULL)
00027         {
00028             *dataSizeActual = sizeof (uint32_t) * 220;
00029         }
00030         return false;
00031     }
00032     
00033 //    write(0xef, 0x00);  // Bank Select = Bank0
00034 //    write(0xec, 0xff);  // Clock Select = manual clock
00035 //    wait_ms(80);
00036     
00037     write(0x03, 0x00);  // Hold Bit = Hold
00038     wait_ms(80);
00039     
00040     write(0x4c, 0x10);  // SRAM Access = Access SRAM
00041     wait_ms(80);
00042     
00043     uint8_t dataL[IMAGE_SENSOR_DATA_NUMBER];
00044     write(0x90, 0x10);  // Read out Image Sensor Data = Low Level
00045     read(0x00, dataL, sizeof (dataL));
00046     
00047     uint8_t dataM[IMAGE_SENSOR_DATA_NUMBER];
00048     write(0x90, 0x11);  // Read out Image Sensor Data = Middle Level
00049     read(0x00, dataM, sizeof (dataM));
00050     
00051     uint8_t dataH[IMAGE_SENSOR_DATA_NUMBER];
00052     write(0x90, 0x12);  // Read out Image Sensor Data = High Level
00053     read(0x00, dataH, sizeof (dataH));
00054 
00055     write(0x90, 0x00);  // Read out Image Sensor Data = Disable
00056     write(0x03, 0x01);  // Hold Bit = Device enable normally
00057     
00058     for (int i = 0; i < IMAGE_SENSOR_DATA_NUMBER; i++)
00059     {
00060         *data++ = dataH[i] * 65536 + dataM[i] * 256 + dataL[i];
00061     }
00062     if (dataSizeActual != NULL)
00063     {
00064         *dataSizeActual = sizeof (uint32_t) * 220;
00065     }
00066 
00067     return true;    
00068 }
00069 
00070 void MjGP2Y0E03::read(uint8_t regAddress, uint8_t *data, size_t dataSize)
00071 {
00072     i2c->write(address, (char*)&regAddress, 1, true);
00073     i2c->read(address, (char*)data, dataSize);
00074 }
00075 
00076 void MjGP2Y0E03::write(uint8_t regAddress, uint8_t data)
00077 {
00078     char buffer[] = { regAddress, data, };
00079     i2c->write(address, buffer, sizeof (buffer));
00080 }
00081 
00082 } // namespace matsujirushi
00083