sfeQwiicUltrasonic.h

Go to the documentation of this file.

/* SparkFun Ulrasonic Distance Sensor
 *
 * Product:
 *  *  SparkFun Qwiic Ultrasonic Distance Sensor - HC-SR04 (SEN-1XXXX)
 *  *  https://www.sparkfun.com/1XXXX
 *
 * SPDX-License-Identifier: MIT
 *
 * Copyright (c) 2024 SparkFun Electronics
 */
 
#pragma once
 
#include "SparkFun_Toolkit.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 randomnly 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 sfeQwiicUltrasonic
{
  public:
    sfeQwiicUltrasonic() : _theBus(nullptr), _fwVersion(kQwiicUltrasonicFWLatest)
    {
    }
 
    sfeQwiicUltrasonic(const uint8_t fwVersion) : _theBus(nullptr), _fwVersion(fwVersion)
    {
    }
 
    sfeTkError_t begin(sfeTkII2C *theBus = nullptr);
 
    sfeTkError_t isConnected();
 
    sfeTkError_t triggerAndRead(uint16_t &distance);
 
    sfeTkError_t changeAddress(uint8_t &address);
 
    uint8_t getAddress();
 
  protected:
    sfeTkII2C *_theBus;
 
  private:
    uint8_t _fwVersion = 0x00;
};