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gp2y0e distance calculation correction

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whowe 2023-10-09 23:02:08 +08:00
parent b83d9a3b68
commit a9473966bd
3 changed files with 5 additions and 6 deletions
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BIN
Production/Firmware/chu_pico.uf2
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3
firmware/src/air.c
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@ -111,8 +111,7 @@ void air_update()
if (tof_model[i] == 1) {
distances[i] = readRangeContinuousMillimeters() * 10;
} else if (tof_model[i] == 2) {
/* compensation based on observation, don't know why*/
distances[i] = gp2y0e_dist16(I2C_PORT) * 16 / 10;
distances[i] = gp2y0e_dist16_mm(I2C_PORT) * 10;
}
}
}

8
firmware/src/gp2y0e.h
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@ -31,24 +31,24 @@ static inline bool gp2y0e_is_present(i2c_inst_t *port)
time_us_64() + 1000) == 1;
}
static inline uint8_t gp2y0e_dist(i2c_inst_t *port)
static inline uint8_t gp2y0e_dist_mm(i2c_inst_t *port)
{
uint8_t cmd[] = {0x5e};
i2c_write_blocking_until(port, GP2Y0E_DEF_ADDR, cmd, 1, true, time_us_64() + 1000);
uint8_t data;
i2c_read_blocking_until(port, GP2Y0E_DEF_ADDR, &data, 1, false, time_us_64() + 1000);
return data;
return data * 10 / 4;
}
static inline uint16_t gp2y0e_dist16(i2c_inst_t *port)
static inline uint16_t gp2y0e_dist16_mm(i2c_inst_t *port)
{
uint8_t cmd[] = {0x5e};
i2c_write_blocking_until(port, GP2Y0E_DEF_ADDR, cmd, 1, true, time_us_64() + 1000);
uint8_t data[2];
i2c_read_blocking_until(port, GP2Y0E_DEF_ADDR, data, 2, false, time_us_64() + 1000);
return (data[0] << 4) | data[1];
return ((data[0] << 4) | data[1]) * 10 / 64;
}
#endif