unsigned int SONAR::getDist() {
debug();
sendCmd(_distCmd,sizeof(_distCmd));
delay(1);
recvDat(distDatSize);
#ifdef DEBUG
showDat(distDatSize);
#endif
if(checksum(distDatSize)==0) return (_recvBuf[5]<<8)+_recvBuf[6];
return 0xffff; // not available distance
}
unsigned int SONAR::getDist() {
debug();
#if defined(BOARD_maple) || defined(BOARD_maple_native) || defined(BOARD_maple_mini)
Serial.flush();
#endif
sendCmd(_distCmd,sizeof(_distCmd));
delay(1);
recvDat(distDatSize);
#ifdef DEBUG
showDat(distDatSize);
#endif
if(checksum(distDatSize)==0) return (_recvBuf[5]<<8)+_recvBuf[6];
return 0xffff; // not available distance
}
unsigned char SONAR::setAddr(unsigned char addr) {
debug();
if(addr==0) {
unsigned startTime=millis();
unsigned int delta=0;
bool gotKey=false;
pinMode(keyS7, INPUT); // 201209
while(digitalRead(keyS7)==KEYPRESSED) {
gotKey=true;
delay(100);
SonarPrint.println(delta=millis()-startTime,DEC);
}
if(gotKey) {
setTX();
SonarPrint.print("GOt KeyS7(ms): ");
SonarPrint.println(delta,DEC);
}
delta/=1000;
if(0x1<=delta && delta<=0x30) addr=0x10+delta;
}
unsigned char addrCmd[sizeof(addrCmdTemplate)];
if(0x11<=addr && addr<=0x30) {
generateAddrCmd(addrCmd,addr);
sendCmd(addrCmd,sizeof(addrCmd));
delay(1);
recvDat(addrDatSize);
#ifdef DEBUG
showDat(addrDatSize);
#endif
if(checksum(addrDatSize)==0) {
initAddr(addr);
return addr;
}
}
return 0;
}
int SONAR::getTemp() {
debug();
unsigned char tempCmd[sizeof(tempCmdTemplate)];
generateTempCmd(tempCmd,getAddr());
#if defined(BOARD_maple) || defined(BOARD_maple_native) || defined(BOARD_maple_mini)
Serial.flush();
#endif
sendCmd(tempCmd,sizeof(tempCmd));
delay(1);
recvDat(tempDatSize);
#ifdef DEBUG
showDat(tempDatSize);
#endif
if(checksum(tempDatSize)==0) {
int temp=(((_recvBuf[5]&0x0f)<<8)+_recvBuf[6])/10;
if((_recvBuf[5]&0xf0)==0) return temp;
return -1*temp;
}
return 0xffff;
}
