Ultrasonic Sensor [Lego]

Files
file	lego-ultrasound.h
	SMUX driver for the Lego US sensor.
Defines
#define	LEGOUS_I2C_ADDR   0x02
#define	LEGOUS_REG_CMD   0x41
#define	LEGOUS_REG_DATA   0x42
#define	LEGOUS_CMD_OFF   0x00
#define	LEGOUS_CMD_SSHOT   0x01
#define	LEGOUS_CMD_CONT   0x02
#define	LEGOUS_CMD_ECAPT   0x03
#define	LEGOUS_CMD_RST   0x04
Functions
int	USreadDist (tSensors link)
bool	USreadDistances (tSensors link, tByteArray &distances)
bool	_USsendCmd (tSensors link, ubyte command)
bool	USsetSingleMode (tSensors link)
bool	USsetContinuousMode (tSensors link)
bool	USsetOff (tSensors link)
bool	USsetEventCapture (tSensors link)
bool	USreset (tSensors link)
int	USreadDist (tMUXSensor muxsensor)
Variables
tConfigParams	LEGOUS_config = {HTSMUX_CHAN_I2C + HTSMUX_CHAN_9V + HTSMUX_CHAN_I2C_SLOW, 1, 0x02, 0x42}
tByteArray	LEGOUS_I2CRequest
tByteArray	LEGOUS_I2CReply

---

Detailed Description

Ultrasonic Sensor

---

Define Documentation

#define LEGOUS_CMD_CONT   0x02

Command to turn on Continuous Mode

Definition at line 45 of file lego-ultrasound.h.

#define LEGOUS_CMD_ECAPT   0x03

Command to turn on Event Capture Mode

Definition at line 46 of file lego-ultrasound.h.

#define LEGOUS_CMD_OFF   0x00

Command to switch US off

Definition at line 43 of file lego-ultrasound.h.

#define LEGOUS_CMD_RST   0x04

Command to request a warm reset

Definition at line 47 of file lego-ultrasound.h.

#define LEGOUS_CMD_SSHOT   0x01

Command to turn on Single Shot mode

Definition at line 44 of file lego-ultrasound.h.

#define LEGOUS_I2C_ADDR   0x02

Lego US I2C address

Definition at line 39 of file lego-ultrasound.h.

#define LEGOUS_REG_CMD   0x41

Command register

Definition at line 40 of file lego-ultrasound.h.

#define LEGOUS_REG_DATA   0x42

Start of measurement data registers

Definition at line 41 of file lego-ultrasound.h.

---

Function Documentation

bool _USsendCmd	(	tSensors	link,
		ubyte	command
	)

Send a command to the US Sensor

Note: this is an internal function and should not be called directly.

Parameters:

link	the US port number
command	the command to be sent to the sensor

Returns:

true if no error occured, false if it did

Definition at line 138 of file lego-ultrasound.h.

int USreadDist

(

tMUXSensor

muxsensor )

Get the distance value from the sensor

Parameters:

muxsensor

the SMUX sensor port number

Returns:

distance from the sensor or 255 if no valid range has been specified.

Definition at line 74 of file lego-ultrasound.h.

int USreadDist

(

tSensors

link )

Get the distance values from the sensor

Parameters:

link	the US port number

Returns:

distance from the sensor or 255 if no valid range has been specified.

Examples:

lego-ultrasound-SMUX-test1.c.

Definition at line 94 of file lego-ultrasound.h.

bool USreadDistances	(	tSensors	link,
		tByteArray &	distances
	)

Get the distance values from the sensor. The distances to the 8 closest objects are returned.

Parameters:

link	the US port number
distances	array holding data on last 8 echos received

Returns:

distance from the sensor or 255 if no valid range has been specified.

Definition at line 115 of file lego-ultrasound.h.

bool USreset

(

tSensors

link )

Request a warm reset of the sensor.

Parameters:

link	the US port number

Returns:

true if no error occured, false if it did

Definition at line 195 of file lego-ultrasound.h.

bool USsetContinuousMode

(

tSensors

link )

Configure the US sensor for Continuous Mode. This is the default.

Parameters:

link	the US port number

Returns:

distance from the sensor or 255 if no valid range has been specified.

Definition at line 165 of file lego-ultrasound.h.

bool USsetEventCapture

(

tSensors

link )

Configure the US sensor for Event Capture mode

Parameters:

link	the US port number

Returns:

true if no error occured, false if it did

Definition at line 185 of file lego-ultrasound.h.

bool USsetOff

(

tSensors

link )

Turn the sensor off.

Parameters:

link	the US port number

Returns:

true if no error occured, false if it did

Definition at line 175 of file lego-ultrasound.h.

bool USsetSingleMode

(

tSensors

link )

Configure the US sensor for Single Shot mode

Parameters:

link	the US port number

Returns:

true if no error occured, false if it did

Definition at line 155 of file lego-ultrasound.h.

---

Variable Documentation

tConfigParams LEGOUS_config = {HTSMUX_CHAN_I2C + HTSMUX_CHAN_9V + HTSMUX_CHAN_I2C_SLOW, 1, 0x02, 0x42}

Array to hold SMUX config data for sensor

Definition at line 62 of file lego-ultrasound.h.

tByteArray LEGOUS_I2CReply

Definition at line 66 of file lego-ultrasound.h.

tByteArray LEGOUS_I2CRequest

Definition at line 65 of file lego-ultrasound.h.