sfDevUltrasonicDist.h

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#pragma once
 
#include <stdint.h>
 
// include the sparkfun toolkit headers
#include <sfTk/sfToolkit.h>
 
// Bus interfaces
#include <sfTk/sfTkII2C.h>
 
// Available I2C addresses of the Qwiic Ultrasonic
const uint8_t kQwiicUltrasonicDefaultAddress = 0x2F;
 
// Firmware versions. The later hardware version is v10 and so the "latest" here
// refers to that. The previous version is randomly given the value v01.
const uint8_t kQwiicUltrasonicFWLatest = 0x10;
const uint8_t kQwiicUltrasonicFWOld = 0x01;
 
// These addresses are the min and max (respectively) of valid I2C addresses that can
// be used for the newest revision of the Qwiic Ultrasonic sensor.
const uint8_t kQwiicUltrasonicI2CAddressMin = 0x08;
const uint8_t kQwiicUltrasonicI2CAddressMax = 0x77;
 
// Available I2C addresses of the older SparkFun Qwiic Ultrasonic Sensor.
const uint8_t kQwiicUltrasonicMinAddress = 0x20;
const uint8_t kQwiicUltrasonicMaxAddress = 0x2F;
;
// I2C commands
const uint8_t kUltrasonicDistanceReadCommand = 0x01;
const uint8_t kUltrasonicAddressChangeCommand = 0x04;
 
class sfDevUltrasonicDist
{
  public:
    sfDevUltrasonicDist() : _theBus(nullptr), _fwVersion(kQwiicUltrasonicFWLatest)
    {
    }
 
    sfDevUltrasonicDist(const uint8_t fwVersion) : _theBus(nullptr), _fwVersion(fwVersion)
    {
    }
 
    sfTkError_t begin(sfTkII2C *theBus = nullptr);
 
    sfTkError_t isConnected();
 
    sfTkError_t triggerAndRead(uint16_t &distance);
 
    sfTkError_t changeAddress(uint8_t &address);
 
    uint8_t getAddress();
 
  protected:
    sfTkII2C *_theBus;
 
  private:
    uint8_t _fwVersion = 0x00;
};