Diff: Ultrasonic/ultrasonic.cpp

Revision:

0:479e94f82332

diff -r 000000000000 -r 479e94f82332 Ultrasonic/ultrasonic.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ultrasonic/ultrasonic.cpp	Tue Aug 23 14:58:55 2022 +0000
@@ -0,0 +1,86 @@
+ #include "ultrasonic.h"
+    
+    ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout):_trig(trigPin), _echo(echoPin)
+    {
+        _updateSpeed = updateSpeed;
+        _timeout = timeout;
+    }
+    
+    ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int))
+    :_trig(trigPin), _echo(echoPin)
+    {
+        _onUpdateMethod=onUpdate;
+        _updateSpeed = updateSpeed;
+        _timeout = timeout;
+        _t.start ();
+    }
+    void ultrasonic::_startT()
+    { 
+        if(_t.read()>600)
+        {
+            _t.reset ();
+        }
+        start = _t.read_us ();
+    }
+        
+    void ultrasonic::_updateDist()
+    {
+        end = _t.read_us ();
+        done = 1;
+        _distance = (end - start)/6;       
+        _tout.detach();
+        _tout.attach(this,&ultrasonic::_startTrig, _updateSpeed);   
+    }
+    void ultrasonic::_startTrig(void)
+    {
+            _tout.detach();
+            _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)
+    {
+        return _distance;
+    }
+    void ultrasonic::pauseUpdates(void)
+    {
+        _tout.detach();
+        _echo.rise(NULL);
+        _echo.fall(NULL);
+    }
+    void ultrasonic::startUpdates(void)
+    {
+        _startTrig();
+    }
+    void ultrasonic::attachOnUpdate(void method(int))
+    {
+        _onUpdateMethod = method;
+    }
+    void ultrasonic::changeUpdateSpeed(float updateSpeed)
+    {
+        _updateSpeed = updateSpeed;
+    }
+    float ultrasonic::getUpdateSpeed()
+    {
+        return _updateSpeed;
+    }
+    int ultrasonic::isUpdated(void)
+    {
+        //printf("%d", done);
+        d=done;
+        done = 0;
+        return d;
+    }
+    void ultrasonic::checkDistance(void)
+    {
+        if(isUpdated())
+        {
+            (*_onUpdateMethod)(_distance);
+        }
+    }