3FEN / Motori_ultrasuoni_prova

Programma rilevamento ostacoli

Dependents:   Motor2FULL_copy

Fork of HCSR04 by Prabhu Desai

hcsr04.cpp@3:e6795cb9439c, 2013-03-30 (annotated)

Committer:
prabhuvd
Date:
Sat Mar 30 18:43:21 2013 +0000
Revision:
3:e6795cb9439c
Parent:
2:0acb6ade091c
Child:
4:33938a97d904
changed the method name start_measurement to start

Who changed what in which revision?

UserRevisionLine numberNew contents of line
prabhuvd 0:fb0929f37ebe 1 /* Copyright (c) 2013 Prabhu Desai
prabhuvd 0:fb0929f37ebe 2 * pdtechworld@gmail.com
prabhuvd 0:fb0929f37ebe 3 *
prabhuvd 0:fb0929f37ebe 4 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
prabhuvd 0:fb0929f37ebe 5 * and associated documentation files (the "Software"), to deal in the Software without restriction,
prabhuvd 0:fb0929f37ebe 6 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
prabhuvd 0:fb0929f37ebe 7 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
prabhuvd 0:fb0929f37ebe 8 * furnished to do so, subject to the following conditions:
prabhuvd 0:fb0929f37ebe 9 *
prabhuvd 0:fb0929f37ebe 10 * The above copyright notice and this permission notice shall be included in all copies or
prabhuvd 0:fb0929f37ebe 11 * substantial portions of the Software.
prabhuvd 0:fb0929f37ebe 12 *
prabhuvd 0:fb0929f37ebe 13 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
prabhuvd 0:fb0929f37ebe 14 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
prabhuvd 0:fb0929f37ebe 15 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
prabhuvd 0:fb0929f37ebe 16 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
prabhuvd 0:fb0929f37ebe 17 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
prabhuvd 0:fb0929f37ebe 18 */
prabhuvd 0:fb0929f37ebe 19
prabhuvd 0:fb0929f37ebe 20
prabhuvd 0:fb0929f37ebe 21 #include "hcsr04.h"
prabhuvd 0:fb0929f37ebe 22
prabhuvd 0:fb0929f37ebe 23
prabhuvd 2:0acb6ade091c 24 DistMeasure::DistMeasure(PinName TrigPin,PinName EchoPin):
prabhuvd 2:0acb6ade091c 25 trigger(TrigPin), echo(EchoPin)
prabhuvd 0:fb0929f37ebe 26 {
prabhuvd 0:fb0929f37ebe 27 pulsetime.stop();
prabhuvd 0:fb0929f37ebe 28 pulsetime.reset();
prabhuvd 1:093521f56089 29 echo.rise(this,&DistMeasure::isr_rise);
prabhuvd 2:0acb6ade091c 30 echo.fall(this,&DistMeasure::isr_fall);
prabhuvd 2:0acb6ade091c 31 trigger=0;
prabhuvd 0:fb0929f37ebe 32 }
prabhuvd 0:fb0929f37ebe 33
prabhuvd 0:fb0929f37ebe 34 DistMeasure::~DistMeasure()
prabhuvd 0:fb0929f37ebe 35 {
prabhuvd 0:fb0929f37ebe 36 }
prabhuvd 0:fb0929f37ebe 37
prabhuvd 0:fb0929f37ebe 38 void DistMeasure::isr_rise(void)
prabhuvd 0:fb0929f37ebe 39 {
prabhuvd 0:fb0929f37ebe 40 pulsetime.start();
prabhuvd 0:fb0929f37ebe 41 }
prabhuvd 3:e6795cb9439c 42 void DistMeasure::start(void)
prabhuvd 2:0acb6ade091c 43 {
prabhuvd 2:0acb6ade091c 44 trigger=1;
prabhuvd 2:0acb6ade091c 45 wait_us(10);
prabhuvd 2:0acb6ade091c 46 trigger=0;
prabhuvd 2:0acb6ade091c 47 }
prabhuvd 0:fb0929f37ebe 48
prabhuvd 0:fb0929f37ebe 49 void DistMeasure::isr_fall(void)
prabhuvd 0:fb0929f37ebe 50 {
prabhuvd 0:fb0929f37ebe 51 pulsetime.stop();
prabhuvd 0:fb0929f37ebe 52 pulsedur = pulsetime.read_us();
prabhuvd 0:fb0929f37ebe 53 distance= (pulsedur*343)/20000;
prabhuvd 0:fb0929f37ebe 54 pulsetime.reset();
prabhuvd 0:fb0929f37ebe 55 }
prabhuvd 2:0acb6ade091c 56
prabhuvd 0:fb0929f37ebe 57 void DistMeasure::rise (void (*fptr)(void))
prabhuvd 0:fb0929f37ebe 58 {
prabhuvd 0:fb0929f37ebe 59 echo.rise(fptr);
prabhuvd 0:fb0929f37ebe 60 }
prabhuvd 0:fb0929f37ebe 61 void DistMeasure::fall (void (*fptr)(void))
prabhuvd 0:fb0929f37ebe 62 {
prabhuvd 0:fb0929f37ebe 63 echo.fall(fptr);
prabhuvd 0:fb0929f37ebe 64 }
prabhuvd 0:fb0929f37ebe 65
prabhuvd 2:0acb6ade091c 66 unsigned int DistMeasure::get_dist_cm()
prabhuvd 0:fb0929f37ebe 67 {
prabhuvd 2:0acb6ade091c 68 return distance;
prabhuvd 0:fb0929f37ebe 69 }
prabhuvd 2:0acb6ade091c 70 unsigned int DistMeasure::get_pulse_us()
prabhuvd 2:0acb6ade091c 71 {
prabhuvd 2:0acb6ade091c 72 return pulsedur;
prabhuvd 2:0acb6ade091c 73 }