diff options
Diffstat (limited to 'tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08')
-rw-r--r-- | tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp | 67 | ||||
-rw-r--r-- | tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h | 60 |
2 files changed, 127 insertions, 0 deletions
diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp new file mode 100644 index 0000000000..8e44a3ee23 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp @@ -0,0 +1,67 @@ + +/* +Copyright (c) 2010 Chris Styles ( chris dot styles at mbed dot org ) + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +*/ + +#include "SRF08.h" + + +SRF08::SRF08(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) { + char cmd[2]; + +// Set up SRF08 max range and receiver sensitivity over I2C bus + cmd[0] = 0x02; // Range register + cmd[1] = 0x1C; // Set max range about 100cm + m_i2c.write(m_addr, cmd, 2); + cmd[0] = 0x01; // Receiver gain register + cmd[1] = 0x1B; // Set max receiver gain + m_i2c.write(m_addr, cmd, 2); + +} + +SRF08::~SRF08() { + +} + +float SRF08::read() { + + char cmd[2]; + char echo[2]; + + +// Get range data from SRF08 +// Send Tx burst command over I2C bus + cmd[0] = 0x00; // Command register + cmd[1] = 0x51; // Ranging results in cm + m_i2c.write(m_addr, cmd, 2); // Send ranging burst + + wait(0.07); // Wait for return echo + +// Read back range over I2C bus + cmd[0] = 0x02; // Address of first echo + m_i2c.write(m_addr, cmd, 1, 1); // Send address of first echo + m_i2c.read(m_addr, echo, 2); // Read two-byte echo result + +// Generate PWM mark/space ratio from range data + float range = (echo[0]<<8)+echo[1]; + + return range; +} diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h new file mode 100644 index 0000000000..a3606338b8 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h @@ -0,0 +1,60 @@ + +/* +Copyright (c) 2010 Chris Styles (chris dot styles at mbed dot org) + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +*/ + +#ifndef SRF08_H +#define SRF08_H + +#include "mbed.h" + +//!Library for the SRF08 Ultrasonic Ranger +/*! +The SRF08 is an Ultrasonic range finder, with an I2C interface that allows the measurement to be read directly in centimetres +*/ +class SRF08 +{ +public: + //!Creates an instance of the class. + /*! + Connect module at I2C address addr using I2C port pins sda and scl. + SRF08 + */ + SRF08(PinName sda, PinName scl, int addr); + + /*! + Destroys instance. + */ + ~SRF08(); + + //!Reads the current temperature. + /*! + Reads the temperature register of the TMP102 and converts it to a useable value. + */ + float read(); + +private: + I2C m_i2c; + int m_addr; + +}; + +#endif |