Diff: ultrasonic.cpp

Revision:

0:6aa04a8c8d4c

Child:

2:cc1143d36567

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ultrasonic.cpp	Sun Nov 23 20:27:09 2014 +0000
@@ -0,0 +1,122 @@
+ #include "ultrasonic.h"
+    
+    ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout):_trig(trigPin), _echo(echoPin)
+    {
+        printf("ultrasonic (wo methods)\r\n");
+        _updateSpeed = updateSpeed;
+        _timeout = timeout;
+    }
+    
+    ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int), void onTrig(void),void onStartTimer(void)/*, Timer *t*/ )
+    :_trig(trigPin), _echo(echoPin)
+    {
+        printf("ultrasonic(with methods)\r\n");
+        _onUpdateMethod=onUpdate;
+        _onTriggerMethod=onTrig;
+        _onStartTimerMethod=onStartTimer;
+        _updateSpeed = updateSpeed;
+        _timeout = timeout;
+        _t.start ();
+        //_ticker.attach_us(this,&ultrasonic::ticktock, 10);
+        //_t = t;
+    }
+    void ultrasonic::_startT(){ 
+        //_t.reset ();
+        start = _t.read_us ();
+//        _t.start();  
+        (*_onStartTimerMethod)();            
+       // printf("_startT %d\r\n", tickcount);
+
+        return;
+    }
+        
+    void ultrasonic::_updateDist()
+    {
+        end = _t.read_us ();
+        done = 1;
+        //_t.stop();
+       // printf("_t.read_us()=%d\r\n", _t.read_us());
+       // printf("_t.read() = %f\r\n", _t.read());
+      //  printf("_t.read_us()=%d\r\n", _t.read_us());
+      //  printf("_t.read() = %f\r\n", _t.read());
+        _distance = (end - start)/6;       
+         
+        //_t.reset();
+        _tout.detach();
+        _tout.attach(this,&ultrasonic::_startTrig, _updateSpeed);
+        (*_onUpdateMethod)(_distance);          
+    }
+    void ultrasonic::_startTrig(void)
+    {
+            _tout.detach();
+            //printf("_startTrig\r\n");
+            _trig=1;             
+            wait_us(10);        
+            done = 0;            
+            _echo.rise(this,&ultrasonic::_startT);   
+            _echo.fall(this,&ultrasonic::_updateDist);
+            _echo.enable_irq ();
+            _tout.attach(this,&ultrasonic::_startTrig,_timeout);
+            _trig=0;   
+
+                      
+    }
+    
+    int ultrasonic::getCurrentDistance(void)
+    {
+        //printf("getCurrDistance\r\n");
+        return _distance;
+    }
+    void ultrasonic::pauseUpdates(void)
+    {
+        //printf("pauseUpdates\r\n");
+        _tout.detach();
+        _echo.rise(NULL);
+        _echo.fall(NULL);
+    }
+    void ultrasonic::startUpdates(void)
+    {
+        //printf("startUpdates\r\n");
+        _startTrig();
+ /*       while (1)
+        {
+        
+                    while (done == 0)
+            {
+            }
+ //       printf("_updateDist- t=%f, %d\r\n", _t.read(), start);
+ //       printf("_updateDist- t=%d, %d\r\n", end, start);
+        printf("_updateDist- dist=%d\r\n", _distance);
+        }*/
+    }
+    void ultrasonic::attachOnUpdate(void method(int))
+    {
+        _onUpdateMethod = method;
+    }
+    void ultrasonic::attachOnTrigger(void method(void))
+    {
+        _onTriggerMethod = method;
+    }
+    void ultrasonic::attachOnStartTimer(void method(void))
+    {
+        _onStartTimerMethod = method;
+    }
+    void ultrasonic::changeUpdateSpeed(float updateSpeed)
+    {
+        _updateSpeed = updateSpeed;
+    }
+    float ultrasonic::getUpdateSpeed()
+    {
+        return _updateSpeed;
+    }
+    
+    /*void ultrasonic::ticktock(void)
+    {
+        tickcount += 1;
+    }*/
+    int ultrasonic::isUpdated(void)
+    {
+        d=done;
+        done = 0;
+        return d;
+    }