Diff: Srf0208IF.h

Revision:

3:70c946ba29cc

Parent:

2:dfc8b09b4e3b

--- a/Srf0208IF.h	Sun May 26 20:52:27 2013 +0000
+++ b/Srf0208IF.h	Sat Jun 01 07:40:00 2013 +0000
@@ -18,26 +18,26 @@
     
     /// little helper that translates two raw bytes into a word
     static int twoByte2int(const char* data){
-        return ((static_cast<uint16_t>(*(data)))<<8) | static_cast<uint16_t>(*(data+1));
+        return ((static_cast<int>(*(data)))<<8) | static_cast<int>(*(data+1));
     }
     /// little helper that translates the us transit time into a distance in mm
     static int time2dist_us2mm(int us){
-        return us!=-1 ? (us*sonicSpeed)>>1 : us;       
+        return us!=-1 ? (us*sonicSpeed)>>11 : -1;  
     }
 
 
-    /// sonic speed in m/s @ 21°C  ...  c=(331.5+0.6*T/°C)m/s
-    /// To calculate the distance in mm: Multiply the µs measurement with this constant and divide by 2
+    /// sonic speed in m/s @ 21C  ...  c=(331.5+0.6*T/C)m/s
+    /// To calculate the distance in mm: Multiply the us measurement with this constant and divide by 2
     static const int sonicSpeed = 344;
 
     /// The constructor
     Srf0208IF(int adr, I2CMasterRtos& i2c): m_adr(adr), m_i2c(i2c){};
 
-    /// Trigger ranging. Result can be read back after 66ms via triggerEchoMeasurement()
+    /// Trigger ranging. Result can be read back after 66ms via triggerEchoMeasurement().
     /// @return true on success
     bool triggerRanging();
     
-    /// Read back measured transit time in µs of the last triggerRanging() or triggerEchoMeasurement() request.
+    /// Read back measured transit time in us of the last triggerRanging() or triggerEchoMeasurement() request.
     /// Depending on the distance the Measurement takes up to 66ms.
     /// @return -1 on error
     int readTransitTime_us();
@@ -49,21 +49,21 @@
         return time2dist_us2mm(readTransitTime_us());
     };
 
-    /// Assign a new adress to the SRF ranger device. Available 8bit addresses: E0, E2, E4 ... FE
+    /// Assign a new adress to the SRF ranger device. Available 8bit addresses: E0, E2, E4 ... FE. 
     /// Ensure that only one SRF device is connected to the bus
     void resetI2CAdress(int newAddress);
 
-    /// Reads the SRF's SW revision
+    /// Reads the SRF's SW revision.
     /// @return -1 on error
     int readSWRevision();
 
-    /// Returns true if ranging is done
+    /// Returns true if ranging is done.
     bool rangingCompleted(){
         return readSWRevision()!=-1;
     }
 };
 
-/// Provides special features of the SRF02
+/// Provides an interface to special features of the SRF02
 class Srf02IF : public Srf0208IF
 {
 public:
@@ -71,19 +71,19 @@
     /// The constructor
     Srf02IF(int adr, I2CMasterRtos& i2c):Srf0208IF(adr,i2c){};
 
-    /// Just send a ping
+    /// Just send a ping.
     /// @return true on success
     bool triggerPing();
 
-    /// Just wait for an echo and measure the time
-    /// Result can be read back after 66ms via triggerEchoMeasurement()
+    /// Just wait for an echo and measure the time.
+    /// Result can be read back after 66ms via triggerEchoMeasurement().
     /// @return true on success
     bool triggerEchoMeasurement();
 
-    /// Read current minimum range from srf02
+    /// Read current minimum range from srf02.
     int readMinimalTransitTime_us();
     
-    /// Read current minimum range from srf02
+    /// Read current minimum range from srf02.
     int readMinimalDistance_mm(){
         return time2dist_us2mm(readMinimalTransitTime_us());
     }
@@ -100,7 +100,7 @@
     /// The constructor
     Srf08IF(int adr, I2CMasterRtos& i2c):Srf0208IF(adr,i2c){};
 
-    /// read light sensor measurement
+    /// read light sensor measurement.
     /// @return -1 on error
     int readBrightness();
 
@@ -109,19 +109,19 @@
     bool triggerANNRanging();
 
     /// Set maximum distance. Use to reduce measurement time.
-    /// @param maxDst maximum distance 0..0xff  (1+maxDst)*43mm  =>  43mm..11m / 3ms..64ms
+    /// @param maxDst maximum distance 0..0xff  (1+maxDst)*43mm  =>  43mm..11m / 3ms..64ms.
     /// @return true on success
     bool writeMaxDist(int maxDst);
 
     /// Set/Limit maximum gain. Use to suppress roving echos from previous measurements.
     /// Necessary at mesurement rates higher than 1/66ms=15Hz.
-    /// During measurement the analog signal amplification is increased every 70µs until
+    /// During measurement the analog signal amplification is increased every 70us until
     /// the maximum gain is reached after 31 steps at ~390mm.
     /// @param maxGain 0..31 / 0x0..0x1f  =>magic non linear function=> 94..1025 (see SRF08 docu)
     /// @return true on success
     bool writeMaxGain(int maxGain);
 
-    /// Get transit time (µs) of n'th echo from internal buffer.
+    /// Get transit time (us) of n'th echo from internal buffer.
     /// Call burstRead() before!
     /// @param echoIdx 0..16
     int getTransitTimeFromRawBuffer_us(int echoIdx) const {
@@ -142,12 +142,12 @@
     }
     /// Get ANN data from internal buffer
     /// Call burstRead() before!
-    /// Each slot is 2048µs/353mm wide.
+    /// Each slot is 2048us/353mm wide.
     /// @param slotIdx slot 0..31
     int getANNSlotDataFromRawBuffer(int slotIdx) const {
         return (static_cast<int>(m_rawBuffer[slotIdx+4]));
     }
-    /// Reads all data from start to stop register in one go and store it in class internal buffer.
+    /// Reads all data from start to stop register in one go and stores it in a class internal buffer. See getXXXXXFromRawBuffer_us() functions.
     /// - reg 0x00: SW Revision
     /// - reg 0x01: light sensor (SRF08 only)
     /// - reg 0x02+0x03: range high+low byte