Diff: SRF02.cpp

Revision:

0:559a18121e83

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SRF02.cpp	Fri Feb 25 17:23:42 2011 +0000
@@ -0,0 +1,89 @@
+#include "SRF02.h"
+
+
+SRF02::SRF02(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+    }
+
+SRF02::~SRF02() {
+
+}
+
+//Get the data in centimeters
+
+int SRF02::readcm() {
+
+    char cmd[2];
+    char eco_high[1],eco_low[1]; //this is because the sensor, sends the data in tow bytes, and  you have tu read from two different registers 0x02 and 0x03;
+
+
+// Get range data from SRF02 in centimeters
+    cmd[0] = 0x00;                      
+    cmd[1] = 0x51;                     
+    m_i2c.write(m_addr, cmd, 2);          
+
+    wait(0.07);                         
+
+
+    cmd[0] = 0x02;                        
+    m_i2c.write(m_addr, cmd, 1, 1);        
+    m_i2c.read(m_addr, eco_high, 1);            
+    
+    cmd[0] = 0x03;
+    m_i2c.write(m_addr,cmd,1,1);
+    m_i2c.read(m_addr,eco_low,1);
+
+    int range = (eco_high[0]<<8)|eco_low[0];
+
+    return range;
+}
+
+//Get the data in inches
+
+int SRF02::readinch() {
+
+    char cmd[2];
+    char eco_high[1],eco_low[1]; //this is because the sensor, sends the data in tow bytes, and  you have tu read from two different registers 0x02 and 0x03;
+
+
+// Get range data from SRF02 in inches
+    cmd[0] = 0x00;                      
+    cmd[1] = 0x50;                     
+    m_i2c.write(m_addr, cmd, 2);          
+
+    wait(0.07);                         
+
+
+    cmd[0] = 0x02;                        
+    m_i2c.write(m_addr, cmd, 1, 1);        
+    m_i2c.read(m_addr, eco_high, 1);            
+    
+    cmd[0] = 0x03;
+    m_i2c.write(m_addr,cmd,1,1);
+    m_i2c.read(m_addr,eco_low,1);
+
+    int range = (eco_high[0]<<8)|eco_low[0];
+
+    return range;
+}
+
+void SRF02::change_addr(char new_addr){
+
+//Change adress of the device. Remember to have only one sensor conected to execute this method.
+
+    char cmd[2];
+    
+    cmd[0]=0x00;
+    cmd[1]=0xA0;
+    m_i2c.write(m_addr,cmd,2);
+    cmd[0]=0x00;
+    cmd[1]=0xAA;
+    m_i2c.write(m_addr,cmd,2);
+    cmd[0]=0x00;
+    cmd[1]=0xA5;
+    m_i2c.write(m_addr,cmd,2);
+    cmd[0]=0x00;
+    cmd[1]=new_addr;
+    m_i2c.write(m_addr,cmd,2);
+    
+    }
+    
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