Merge pull request #5 from LeoColomb/v3.0-wip

v3.0

SonarSRF.cpp

@@ -5,22 +5,35 @@
 //
 // MIT License
 // Copyright(c) 2009 Zach Foresta
-// Copyright(c) 2012 Leo Colombaro
 // Copyright(c) 2012 Philipp A. Mohrenweiser
+// Copyright(c) 2012-2016 Leo Colombaro
 //
 
 #include "SonarSRF.h"
 
-void SonarSRF::connect(int address, int gainRegister, int rangeLocation)
+/// <summary>
+/// Initiates the connection with the sensor and start I2C bus
+/// </summary>
+/// <param name="address">I2C Address</param>
+/// <param name="gainRegister">SRF Location 1</param>
+/// <param name="rangeLocation">SRF Location 2</param>
+void SonarSRF::begin(int address, int gainRegister, int rangeLocation)
 {
     _address = address;
     _gainRegister = gainRegister;
     _rangeLocation = rangeLocation;
-    // start I2C bus
     Wire.begin();
 }
 
-// Sets Units for display / storage
+/// <summary>
+/// Sets Units for display / storage
+/// </summary>
+/// <remarks>
+/// * 'i' for inches
+/// * 'c' for centimeters
+/// * 'm' for microseconds
+/// </remarks>
+/// <param name="unit">Unit used</param>
 void SonarSRF::startRanging(char unit)
 {
     switch (unit)
@@ -40,70 +53,89 @@ void SonarSRF::startRanging(char unit)
     }
 }
 
-// Communicates with Sonar to send commands
+/// <summary>
+/// Communicates with Sonar to send commands
+/// </summary>
+/// <param name="command">SRF Command</param>
+/// <param name="addressRegister">SRF Location 0</param>
+/// <seealso cref="connect"/>
 void SonarSRF::sendCommand(int command, int addressRegister)
 {
     // start I2C transmission
     Wire.beginTransmission(_address);
-    // send command
-    Wire.write(addressRegister); // SRF Location 0
-    if (command != NULL)
+    Wire.write(byte(addressRegister));
+    if (command != 0)
     {
-        Wire.write(command); // SRF Command
+        // send command
+        Wire.write(byte(command));
         if (_gainRegister && _rangeLocation)
         {
-            Wire.write(_gainRegister); // SRF Location 1
-            Wire.write(_rangeLocation); // SRF Location 2
+            Wire.write(byte(_gainRegister)); // SRF Location 1
+            Wire.write(byte(_rangeLocation)); // SRF Location 2
         }
     }
     // end I2C transmission
     Wire.endTransmission();
 }
 
-// Read data from register return result
+/// <summary>
+/// Read data from register return result
+/// </summary>
+/// <param name="unit">Unit used</param>
+/// <param name="andStart"></param>
+/// <returns>The range number (two bytes)</returns>
+/// <seealso cref="startRanging"/>
 int SonarSRF::getRange(char unit, bool andStart)
 {
-    int result = 0; // the result is two bytes long
     if (andStart)
     {
         startRanging(unit);
         waitForCompletion();
     }
-    sendCommand(NULL, RESULT_REGISTER);
+    sendCommand(0, RANGE_REGISTER);
     Wire.requestFrom(_address, 2);
     // wait for two bytes to return
     while (Wire.available() < 2); // wait for result
     // read the two bytes, and combine them into one int
     byte highByte = Wire.read(); // Stores high byte from ranging
     byte lowByte = Wire.read(); // Stored low byte from ranging
-    result = (highByte << 8) + lowByte;
-    // return the result:
-    return result;
+    return (int)((highByte << 8) + lowByte);
 }
 
+/// <summary>
+/// Wait for completion
+/// </summary>
 void SonarSRF::waitForCompletion()
 {
-    while (getSoft() == -1)
+    while (getVersion() == -1)
     {
         delay(1);
     }
 }
 
-// Get software revision
-int SonarSRF::getSoft()
+/// <summary>
+/// Get software revision
+/// </summary>
+/// <returns>The software revision (one byte)</returns>
+int SonarSRF::getVersion()
 {
-    sendCommand();
+    sendCommand(0, SOFTWARE_REVISION);
     Wire.requestFrom(_address, 1); // Request 1 byte
     while (Wire.available() < 0); // While byte available
-    int software = Wire.read(); // Get byte
-    return software;
+    return (int)(Wire.read());
 }
 
-void SonarSRF::changeAddress(int newAddress)
+/// <summary>
+/// Set a new address
+/// </summary>
+/// <remarks>
+/// The address given in Arduino 7bit has to be converted back into SRF 8bit
+/// newAddress can be set to any of E0, E2, E4, E6, E8, EA, EC, EE, F0, F2,
+/// F4, F6, F8, FA, FC, FE.
+/// </remarks>
+/// <param name="newAddress">The new address</param>
+void SonarSRF::setAddress(int newAddress)
 {
-    // The address given in Arduino 7bit has to be converted back into SRF 8bit
-    // newAddress << 1 can be set to any of E0, E2, E4, E6, E8, EA, EC, EE
-    // F0, F2, F4, F6, F8, FA, FC, FE
     sendCommand(0xA0);
     sendCommand(0xAA);
     sendCommand(0xA5);

SonarSRF.h

@@ -5,8 +5,8 @@
 //
 // MIT License
 // Copyright(c) 2009 Zach Foresta
-// Copyright(c) 2012 Leo Colombaro
 // Copyright(c) 2012 Philipp A. Mohrenweiser
+// Copyright(c) 2012-2016 Leo Colombaro
 //
 
 // Sensor connections:
@@ -19,24 +19,29 @@
 #include <Wire.h>
 #include <Arduino.h>
 
-#define INCHES           0x50
-#define CENTIMETERS      0x51
-#define MICROSECONDS     0x52
-#define COMMAND_REGISTER (byte)0x00
-#define RESULT_REGISTER  0x02
+// Read
+#define SOFTWARE_REVISION 0x00
+#define LIGHT_SENSOR      0x01
+// Write
+#define COMMAND_REGISTER  0x00
+#define MAX_GAIN_REGISTER 0x01
+#define RANGE_REGISTER    0x02
+// Units
+#define INCHES            0x50
+#define CENTIMETERS       0x51
+#define MICROSECONDS      0x52
 
 class SonarSRF
 {
 public:
-    void         connect(int address, int gainRegister = NULL, int rangeLocation = NULL);
+    void         begin(int address, int gainRegister = 0, int rangeLocation = 0);
     virtual void startRanging(char unit);
     virtual int  getRange(char unit = 'c', bool andStart = true);
-    int          getSoft();
-    void         changeAddress(int newAddress);
-
+    int          getVersion();
+    void         setAddress(int newAddress);
 protected:
     virtual void waitForCompletion();
-    void         sendCommand(int command = NULL, int addressRegister = COMMAND_REGISTER);
+    void         sendCommand(int command = 0, int addressRegister = COMMAND_REGISTER);
     int          _address;
     int          _gainRegister;
     int          _rangeLocation;

SonarSRF02.cpp

@@ -5,15 +5,20 @@
 //
 // MIT License
 // Copyright(c) 2009 Zach Foresta
-// Copyright(c) 2012 Leo Colombaro
 // Copyright(c) 2012 Philipp A. Mohrenweiser
+// Copyright(c) 2012-2016 Leo Colombaro
 //
 
 #include "SonarSRF02.h"
 
+/// <summary>
+/// Wait for completion
+/// </summary>
+/// <remarks>
+/// Completion wait on SRF02 takes 66ms, std way to check register 0 doesn't
+/// seem to work with software revision 6.
+/// </remarks>
 void SonarSRF02::waitForCompletion()
 {
     delay(66);
-    // Completion wait on 02 takes 66ms,
-    // std way to check register 0 doesnt seem to work with software revision 6
 }

SonarSRF02.h

@@ -5,8 +5,8 @@
 //
 // MIT License
 // Copyright(c) 2009 Zach Foresta
-// Copyright(c) 2012 Leo Colombaro
 // Copyright(c) 2012 Philipp A. Mohrenweiser
+// Copyright(c) 2012-2016 Leo Colombaro
 //
 
 #ifndef SonarSRF02_h

SonarSRF08.cpp

@@ -0,0 +1,27 @@
+//
+// SonarSRF
+// Arduino Library for controlling SRF sonar sensors
+// http://www.arduino.cc/playground/Main/SonarSrf08
+//
+// MIT License
+// Copyright(c) 2009 Zach Foresta
+// Copyright(c) 2012 Philipp A. Mohrenweiser
+// Copyright(c) 2012-2016 Leo Colombaro
+//
+
+#include "SonarSRF08.h"
+
+/// <summary>
+/// Get luminosity captured by SRF08 sensor
+/// </summary>
+/// <returns>The luminosity (one byte)</returns>
+int SonarSRF08::getLuminosity()
+{
+    startRanging('i');
+    delay(70);
+
+    sendCommand(0, LIGHT_SENSOR);
+    Wire.requestFrom(_address, 1);
+    while (Wire.available() < 0); // While byte available
+    return (int)(Wire.read());
+}

SonarSRF08.h

@@ -5,8 +5,8 @@
 //
 // MIT License
 // Copyright(c) 2009 Zach Foresta
-// Copyright(c) 2012 Leo Colombaro
 // Copyright(c) 2012 Philipp A. Mohrenweiser
+// Copyright(c) 2012-2016 Leo Colombaro
 //
 
 #ifndef SonarSRF08_h
@@ -16,6 +16,8 @@
 
 class SonarSRF08 : public SonarSRF
 {
+public:
+    int getLuminosity();
 };
 
 #endif

examples/SRF02/SRF02.ino

@@ -5,8 +5,8 @@
 //
 // MIT License
 // Copyright(c) 2009 Zach Foresta
-// Copyright(c) 2012 Leo Colombaro
 // Copyright(c) 2012 Philipp A. Mohrenweiser
+// Copyright(c) 2012-2016 Leo Colombaro
 //
 
 #include <Wire.h>
@@ -22,11 +22,11 @@ char unit = 'c'; // 'i' for inches, 'c' for centimeters, 'm' for micro-seconds
 void setup() {
     Serial.begin(115200);
 
-    LeftSonar.connect(LEFT_02_ADDRESS);
-    isConnected("SRF02-left", LeftSonar.getSoft());
+    LeftSonar.begin(LEFT_02_ADDRESS);
+    isConnected("SRF02-left", LeftSonar.getVersion());
 
-    RightSonar.connect(RIGHT_02_ADDRESS);
-    isConnected("SRF02-right", RightSonar.getSoft());
+    RightSonar.begin(RIGHT_02_ADDRESS);
+    isConnected("SRF02-right", RightSonar.getVersion());
 }
 
 void loop() {

examples/SRF08/SRF08.ino

@@ -5,8 +5,8 @@
 //
 // MIT License
 // Copyright(c) 2009 Zach Foresta
-// Copyright(c) 2012 Leo Colombaro
 // Copyright(c) 2012 Philipp A. Mohrenweiser
+// Copyright(c) 2012-2016 Leo Colombaro
 //
 
 #include <Wire.h>
@@ -27,8 +27,8 @@ char unit = 'c'; // 'i' for inches, 'c' for centimeters, 'm' for micro-seconds
 void setup() {
     Serial.begin(9600);
 
-    MainSonar.connect(MAIN_08_ADDRESS, GAIN_REGISTER, LOCATION_REGISTER);
-    isConnected("SRF08", MainSonar.getSoft());
+    MainSonar.begin(MAIN_08_ADDRESS, GAIN_REGISTER, LOCATION_REGISTER);
+    isConnected("SRF08", MainSonar.getVersion());
 }
 
 void loop() {

keywords.txt

@@ -13,11 +13,12 @@ SonarSRF08	KEYWORD1
 # Methods and Functions (KEYWORD2)
 #######################################
 
-connect	KEYWORD2
+begin	KEYWORD2
 startRanging	KEYWORD2
 getRange	KEYWORD2
-getSoft	KEYWORD2
-changeAddress	KEYWORD2
+getVersion	KEYWORD2
+setAddress	KEYWORD2
+getLuminosity	KEYWORD2
 
 #######################################
 # Constants (LITERAL1)

library.properties

@@ -0,0 +1,9 @@
+name=SonarSRF
+version=3.0.0
+author=Léo Colombaro
+maintainer=Léo Colombaro <[email protected]>
+sentence=Arduino interfacing with sonar sensor SRF
+paragraph=This lib wants to give a quick shot on differences for usage of SRF 02 and 08 atm.
+category=Sensors
+url=https://github.com/LeoColomb/Arduino-SRF
+architectures=*