ecrobot::SonarSensor Class Reference

NXT Sonar(Ultrasonic) sensor class. More...

#include <SonarSensor.h>

Inheritance diagram for ecrobot::SonarSensor:

List of all members.

Public Member Functions
	SonarSensor (ePortS port)
	Constructor (activate I2C).
S16	getDistance (void) const
	Get distance in cm.
void	get (U8 data[1]) const
	Get raw I2C data.
bool	send (U32 address, U8 *data, U32 length)
	Send data.
bool	receive (U32 address, U8 *data, U32 length) const
	Receive data.
Protected Member Functions
ePortS	getPort (void) const
	Get the I2C device connected port.

---

Detailed Description

NXT Sonar(Ultrasonic) sensor class.

[ How to use with TOPPERS/ATK1(OSEK) ]
I2C (derived/compositted) class and Clock class internally use RTOS features. Thus, user needs to implement a C function and RTOS provided events.

+ Invoke SleeperMonitor function in user_1msec_isr_type2 hook.
  void user_1ms_isr_type2(void)
  {
    SleeperMonitor(); // needed for I2C devices and Clock class
  }

+ Define EventSleepI2C and EventSleep Events in user oil file.
  EVENT EventSleepI2C
  {
    MASK = AUTO;
  };

  EVENT EventSleep
  {
    MASK = AUTO;
  };

  TASK TaskMain
  {
    AUTOSTART = TRUE
    {
      APPMODE = appmode1;
    };
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
    EVENT = EventSleepI2C; <- Here it is
    EVENT = EventSleep; <- Here it is
  };

[ How to use with TOPPERS/JSP(ITRON) ]
In case of using this class with TOPPERS/JSP(ITRON), RTOS specific definitions for the class are not needed.

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Constructor & Destructor Documentation

ecrobot::SonarSensor::SonarSensor

(

ePortS

port

)

[explicit]

Constructor (activate I2C).

Note:
This class must be constructed as a global object. Otherwise, a device assertion will be displayed
in the LCD when the object is constructed as a non global object.
When the object is destructed while the system is shut down, the device is de-activated automatically.

Parameters:

port	Sonar sensor connected port

Returns:

-

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Member Function Documentation

void ecrobot::SonarSensor::get

(

U8

data[1]

)

const [inline]

Get raw I2C data.

Parameters:

data	Data representation from the sensor: data[0]: distance

Returns:

-

S16 ecrobot::SonarSensor::getDistance

(

void

)

const

Get distance in cm.

Parameters:

-

Returns:

distance in cm

ePortS ecrobot::I2c::getPort

(

void

)

const [inline, protected, inherited]

Get the I2C device connected port.

Parameters:

-

Returns:

I2C device connected port

bool ecrobot::I2c::receive	(	U32	address,
		U8 *	data,
		U32	length
	)		const [inherited]

Receive data.

Parameters:

address	I2C address
data	Data to be received
length	Length of data to be received

Returns:

The result of receive data: true(succeded)/false(failed)

bool ecrobot::I2c::send	(	U32	address,
		U8 *	data,
		U32	length
	)		[inherited]

Send data.

Parameters:

address	I2C address
data	Data to be sent
length	Length of data to be sent

Returns:

The result of send data: true(succeded)/false(failed)

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The documentation for this class was generated from the following file:

• device/SonarSensor.h