3FEN / Motori_ultrasuoni_prova

Programma rilevamento ostacoli

Dependents:   Motor2FULL_copy

Fork of HCSR04 by Prabhu Desai

hcsr04.cpp@0:fb0929f37ebe, 2013-03-30 (annotated)

Committer:
prabhuvd
Date:
Sat Mar 30 17:27:39 2013 +0000
Revision:
0:fb0929f37ebe
Child:
1:093521f56089
Version 1.0 , the rise and fall methods needs to be attached to pin;

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 0:fb0929f37ebe 24 DistMeasure::DistMeasure(PinName TrigPin,PinName EchoPin,unsigned int maxtime):
prabhuvd 0:fb0929f37ebe 25 trigger(TrigPin), echo(EchoPin), timeout(maxtime)
prabhuvd 0:fb0929f37ebe 26 {
prabhuvd 0:fb0929f37ebe 27 pulsetime.stop();
prabhuvd 0:fb0929f37ebe 28 pulsetime.reset();
prabhuvd 0:fb0929f37ebe 29 // this.rise(&DistMeasure::isr_rise);
prabhuvd 0:fb0929f37ebe 30 // this.fall(&DistMeasure::isr_fall);
prabhuvd 0:fb0929f37ebe 31 }
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
prabhuvd 0:fb0929f37ebe 39 void DistMeasure::isr_rise(void)
prabhuvd 0:fb0929f37ebe 40 {
prabhuvd 0:fb0929f37ebe 41 pulsetime.start();
prabhuvd 0:fb0929f37ebe 42 }
prabhuvd 0:fb0929f37ebe 43
prabhuvd 0:fb0929f37ebe 44 void DistMeasure::isr_fall(void)
prabhuvd 0:fb0929f37ebe 45 {
prabhuvd 0:fb0929f37ebe 46 pulsetime.stop();
prabhuvd 0:fb0929f37ebe 47 pulsedur = pulsetime.read_us();
prabhuvd 0:fb0929f37ebe 48 distance= (pulsedur*343)/20000;
prabhuvd 0:fb0929f37ebe 49 pulsetime.reset();
prabhuvd 0:fb0929f37ebe 50 }
prabhuvd 0:fb0929f37ebe 51 void DistMeasure::rise (void (*fptr)(void))
prabhuvd 0:fb0929f37ebe 52 {
prabhuvd 0:fb0929f37ebe 53 echo.rise(fptr);
prabhuvd 0:fb0929f37ebe 54 }
prabhuvd 0:fb0929f37ebe 55 void DistMeasure::fall (void (*fptr)(void))
prabhuvd 0:fb0929f37ebe 56 {
prabhuvd 0:fb0929f37ebe 57 echo.fall(fptr);
prabhuvd 0:fb0929f37ebe 58 }
prabhuvd 0:fb0929f37ebe 59
prabhuvd 0:fb0929f37ebe 60 unsigned int DistMeasure::get_distance_cm()
prabhuvd 0:fb0929f37ebe 61 {
prabhuvd 0:fb0929f37ebe 62 if(distance > 65530) {
prabhuvd 0:fb0929f37ebe 63 return -1;
prabhuvd 0:fb0929f37ebe 64 } else {
prabhuvd 0:fb0929f37ebe 65 return distance;
prabhuvd 0:fb0929f37ebe 66 }
prabhuvd 0:fb0929f37ebe 67 }