Adds I2C commands to relevant function

Author: edspark

examples/Example1_BasicReadings/Example1_BasicReadings.ino

@@ -14,7 +14,7 @@ void setup()
 {
     // Start serial
     Serial.begin(115200);
-    Serial.println("Qwiic Ultrasonic Example 1 - Basic Readings");
+    Serial.println("Ultrasonic Distance Sensor Example 1 - Basic Distance Sensing");
 
     Wire.begin();
 
@@ -38,6 +38,12 @@ void loop()
     Serial.print("Distance (mm): ");
     Serial.println(distance);
 
+    //Serial.println("Distance (cm): "); 
+    //Serial.print((distance / 10.0), 2);         
+
+    //Serial.println("Distace (in): "); 
+    //Serial.print((distance / 25.4), 2);         
+
     // Wait a bit
     delay(250);
 }

src/sfeQwiicUltrasonic.cpp

@@ -33,10 +33,11 @@ sfeTkError_t sfeQwiicUltrasonic::getDistace(uint16_t &distance)
 {
     size_t bytesRead = 0;
     uint8_t rawData[2] = {0, 0};
+    sfeTkError_t err;
 
-    // Attempt to read the distance
-    sfeTkError_t err = _theBus->write(kQwiicUltrasonicRegisterTrigger, rawData, 2, bytesRead);
-    sfeTkError_t err = _theBus->readRegisterRegion(kQwiicUltrasonicRegisterTrigger, rawData, 2, bytesRead);
+    _theBus->writeRegisterByte(theBus->address(), kUltrasonicDistanceReadCommand);
+    delay(10);
+    err = _theBus->readRegisterRegion(kQwiicUltrasonicRegisterTrigger, rawData, 2, bytesRead);
 
     // Check whether the read was successful
     if (err != kSTkErrOk)
@@ -71,11 +72,14 @@ sfeTkError_t sfeQwiicUltrasonic::getTriggeredDistance(uint16_t &distance)
 sfeTkError_t sfeQwiicUltrasonic::changeAddress(const uint8_t &address)
 {
     // Check whether the address is valid
+    sfeTkError_t err;
+
     if (address < kQwiicUltrasonicMinAddress || address > kQwiicUltrasonicMaxAddress)
         return kSTkErrFail;
 
     // Write the new address to the device. The first bit must be set to 1
-    sfeTkError_t err = _theBus->writeByte(address | 0x80);
+    _theBus->writeRegisterByte(_theBus->address(), kUltrasonicAddressChangeCommand);
+    err = _theBus->writeRegisterByte(_theBus->address(), address << 1);
 
     // Check whether the write was successful
     if (err != kSTkErrOk)

src/sfeQwiicUltrasonic.h

@@ -4,15 +4,12 @@
 #include <stdint.h>
 
 // Available I2C addresses of the Qwiic Ultrasonic
-const uint8_t kQwiicUltrasonicAddresses[] = {0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27,
-                                             0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F};
-const uint8_t kQwiicUltrasonicNumAddresses = sizeof(kQwiicUltrasonicAddresses) / sizeof(uint8_t);
-const uint8_t kQwiicUltrasonicMinAddress = kQwiicUltrasonicAddresses[0];
-const uint8_t kQwiicUltrasonicMaxAddress = kQwiicUltrasonicAddresses[15];
 const uint8_t kQwiicUltrasonicDefaultAddress = 0x2F;
-
-// Register to trigger a new measuremnt and read the previous one
-const uint8_t kQwiicUltrasonicRegisterTrigger = 0x01;
+const uint8_t kQwiicUltrasonicMinAddress = 0x08;
+const uint8_t kQwiicUltrasonicMaxAddress = 0x7F;
+// I2C commands
+const uint8_t kUltrasonicDistanceReadCommand = 0x01;
+const uint8_t kUltrasonicAddressChangeCommand = 0x04;
 
 class sfeQwiicUltrasonic
 {
@@ -46,7 +43,7 @@ class sfeQwiicUltrasonic
     /// @return 0 for succuss, negative for errors, positive for warnings
     sfeTkError_t changeAddress(const uint8_t &address);
 
-    /// @brief Gets the current I2C address of the Qwiic Ultrasonic sensor
+    /// @brief Gets the current I2C address being used by the library for the Qwiic Ultrasonic sensor
     /// @return The current I2C address, 7-bit unshifted
     uint8_t getAddress();