hcsr04.h

00001 
00002 
00003 #ifndef MBED_HCSR04_H
00004 #define MBED_HCSR04_H
00005 
00006 #include "mbed.h"
00007 
00008 /** HCSR04 Class(es)
00009  */
00010 
00011 class HCSR04
00012 {
00013 public:
00014     /** Create a HCSR04 object connected to the specified pin
00015     * @param pin i/o pin to connect to
00016     */
00017     HCSR04(PinName TrigPin,PinName EchoPin);
00018     ~HCSR04();
00019 
00020     /** Return the distance from obstacle in cm
00021     * @param distance in cms and returns -1, in case of failure
00022     */
00023     unsigned int get_dist_cm(void);
00024     /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver.
00025     * @param pulse duration in microseconds.
00026     */
00027     unsigned int get_pulse_us(void);
00028     /** Generates the trigger pulse of 10us on the trigger PIN.
00029     */
00030     void start(void );
00031     void isr_rise(void);
00032     void isr_fall(void);
00033     void fall (void (*fptr)(void));
00034     void rise (void (*fptr)(void));
00035 
00036 
00037 
00038 private:
00039 
00040     Timer pulsetime;
00041     DigitalOut  trigger;
00042     InterruptIn echo;
00043     unsigned int pulsedur;
00044     unsigned int distance;
00045 };
00046 
00047 #endif