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);
    }
}

Files at this revision

API Documentation at this revision

Revision 1:1832cde75561, committed 2014-11-26

Comitter:
matsujirushi
Date:
Wed Nov 26 12:00:04 2014 +0000
Parent:
0:33c4a1de6547
Commit message:
Add getImageSensorData() function.

Changed in this revision

MjGP2Y0E03.cpp Show annotated file Show diff for this revision Revisions of this file
MjGP2Y0E03.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 33c4a1de6547 -r 1832cde75561 MjGP2Y0E03.cpp
--- 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

diff -r 33c4a1de6547 -r 1832cde75561 MjGP2Y0E03.h
--- a/MjGP2Y0E03.h	Mon Nov 24 07:51:53 2014 +0000
+++ b/MjGP2Y0E03.h	Wed Nov 26 12:00:04 2014 +0000
@@ -10,11 +10,15 @@
 public:
     MjGP2Y0E03(I2C* i2c, uint8_t address);
     uint16_t getDistance();
+    bool getImageSensorData(uint32_t *data, size_t dataSize, size_t *dataSizeActual);
     
 private:
     I2C *i2c;
     uint8_t address;
 
+    void read(uint8_t regAddress, uint8_t *data, size_t dataSize);
+    void write(uint8_t regAddress, uint8_t data);
+    
 };
 
 } // namespace matsujirushi