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oIR Class Reference

Controls a Sharp GP2Y0A02YK, GP2D12, and GP2D120IR IR module. More...

#include <oir.h>

Inheritance diagram for oIR:

Public Member Functions
	oIR (IOLINE channel, IR_TYPE type)
void	callibrate (short c)
short	value (void)
int	value (void) const
	Digital value on channel.
void	operate (bool b)
	True starts A2D; otherwise 0 on channel.
Static Public Member Functions
int	TCR1 (void)
void	TMCR (int iarb)
bool	HSQR (int chan, int val)
	Configures the host sequence register.
bool	HSRR (int chan, int val)
	Configures the host sequence request register.
bool	CPR (int chan, int val)
	Configures the channel priority register (Ref. TPU Channel Utilization).
bool	CIER (int chan, int cie)
	Configures the channel interrupt enable register.
int	CISR (int chan)
	Returns the channel interrupt status register.
void	CISR_clear (int chan)
	Clears the channel interrupt status register for the channel.
bool	TICR (int cirl, int cibv)
	Configures the TPU interrupt configuration register.
int	tpu_vector (IOLINE channel)
	Given a channel, returns the vector number to use for an interrupt.

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Detailed Description

Controls a Sharp GP2Y0A02YK, GP2D12, and GP2D120IR IR module.

Operation

This is an object based upon the oA2D object to detect distance an IR's reference function. Ref. oA2D for associated problems. The internal table begins at 8 cm. and farther out has big jumps as its to hard to be accurate toward the outer region.

Remarks

Be careful, as sometimes there might be noisy regions. On my GP2D12, the range inbween 50-60 centimeters is sometimes not very reliable and sometimes returns values closer. Of course, this is a sensor issue and not an implementation issue. Supported IR types are:

• GP2Y0A02YK
• GP2D12
• GP2D120

Sample Code

#include <hardware/oir.h>
int main()
{
oIR ir(0,GP12D2);       // channel 0 of A2D port.
  ir.callibrate(0);     // appearing too close
  while (ir.value() < 40)
  {
    // .. do something useful
  }
}

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Constructor & Destructor Documentation

oIR (  IOLINE  channel, IR_TYPE  type )

Constructor specifying channel on A2D PORT. Callibrate factor needed for each sensor.

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Member Function Documentation

void callibrate (  short  c  )

Note: A larger callibration number will decrease distance returned. The default is: GP2Y0A02YK: 10 GP2D12: 3 GP2D120: 1

bool CIER (  int  chan, int  cie )  [static, inherited]

Configures the channel interrupt enable register. Parameters: int:  channel int:  1 enables; 0 disables

bool CPR (  int  chan, int  val )  [static, inherited]

Configures the channel priority register (Ref. TPU Channel Utilization). Parameters: int:  channel int:  priority

bool HSQR (  int  chan, int  val )  [static, inherited]

Configures the host sequence register. Parameters: int:  channel int  dependent upon function (CFSR) selected

bool HSRR (  int  chan, int  val )  [static, inherited]

Configures the host sequence request register. Parameters: int:  channel int:  dependend upon function

int TCR1 (  void   )  [static, inherited]

misnomer--should be TCR1 divisor--return number of clocks (PSCK,TCR1P modifications) Globally available object. Can be used in combination with TPU_REGISTER definition to say TPU_REGISTER->CFSR.BITS...

void TMCR (  int  iarb  )  [static, inherited]

was tpu_init Configures the channel function select register

short value (  void   )

Distance from object in millimeterss. Set status of component

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

• oir.h

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