Ultrasonic Range Finder Sensors Library. May be used for SRF05 and all others sensors of the same kind (50ms period, 10us pulse)
Dependents: FRC_2018 TestVMA 0hackton_08_06_18 lib_FRC_2019 ... more
VMA306.h@6:158dfeb5c24d, 2018-06-05 (annotated)
- Committer:
- haarkon
- Date:
- Tue Jun 05 07:27:37 2018 +0000
- Revision:
- 6:158dfeb5c24d
- Parent:
- 4:a2c81d32d058
OK version (without warning);
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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haarkon | 0:bc016581f12b | 1 | /** |
haarkon | 0:bc016581f12b | 2 | * @author Hugues Angelis |
haarkon | 0:bc016581f12b | 3 | * |
haarkon | 0:bc016581f12b | 4 | * @section LICENSE |
haarkon | 0:bc016581f12b | 5 | * |
haarkon | 0:bc016581f12b | 6 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
haarkon | 0:bc016581f12b | 7 | * of this software and associated documentation files (the "Software"), to deal |
haarkon | 0:bc016581f12b | 8 | * in the Software without restriction, including without limitation the rights |
haarkon | 0:bc016581f12b | 9 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
haarkon | 0:bc016581f12b | 10 | * copies of the Software, and to permit persons to whom the Software is |
haarkon | 0:bc016581f12b | 11 | * furnished to do so, subject to the following conditions: |
haarkon | 0:bc016581f12b | 12 | * |
haarkon | 0:bc016581f12b | 13 | * The above copyright notice and this permission notice shall be included in |
haarkon | 0:bc016581f12b | 14 | * all copies or substantial portions of the Software. |
haarkon | 0:bc016581f12b | 15 | * |
haarkon | 0:bc016581f12b | 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
haarkon | 0:bc016581f12b | 17 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
haarkon | 0:bc016581f12b | 18 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
haarkon | 0:bc016581f12b | 19 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
haarkon | 0:bc016581f12b | 20 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
haarkon | 0:bc016581f12b | 21 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
haarkon | 0:bc016581f12b | 22 | * THE SOFTWARE. |
haarkon | 0:bc016581f12b | 23 | * |
haarkon | 0:bc016581f12b | 24 | * @section DESCRIPTION |
haarkon | 0:bc016581f12b | 25 | * |
haarkon | 0:bc016581f12b | 26 | * Vellerman VMA306 Ultrasonic Range Finder Library |
haarkon | 0:bc016581f12b | 27 | * |
haarkon | 0:bc016581f12b | 28 | * @Note : |
haarkon | 1:4f394d75bc7f | 29 | * The purpose of this library is to adapt SRF05 library to allow full control of the sensor : |
haarkon | 0:bc016581f12b | 30 | * - allow cycle control (time between 2 pulses) |
haarkon | 0:bc016581f12b | 31 | * - delayed trigerring (start periodical mesurement with a delay) |
haarkon | 1:4f394d75bc7f | 32 | * because in case of multiple US sensor use, pulse from a sensor can be detected by another like its own echo and thus interfere with mesurement. |
haarkon | 0:bc016581f12b | 33 | * |
haarkon | 0:bc016581f12b | 34 | * Cycle time must be greater or equal to 50ms. |
haarkon | 0:bc016581f12b | 35 | * After 30ms the sensor times out so 30ms output pulse means no detection |
haarkon | 0:bc016581f12b | 36 | * |
haarkon | 1:4f394d75bc7f | 37 | * You may divide the echo pulse width by 58µs/cm to calculate the almost exact distance to the obstacle in centimeters. |
haarkon | 0:bc016581f12b | 38 | * |
haarkon | 1:4f394d75bc7f | 39 | * To allow non blocking read you may use the global variable VMA306Flag witch is set to one each time a new mesure is ready. This variable must be cleared by user |
haarkon | 0:bc016581f12b | 40 | */ |
haarkon | 0:bc016581f12b | 41 | |
haarkon | 0:bc016581f12b | 42 | #ifndef _VMA306_H |
haarkon | 0:bc016581f12b | 43 | #define _VMA306_H |
haarkon | 0:bc016581f12b | 44 | |
haarkon | 1:4f394d75bc7f | 45 | /** |
haarkon | 1:4f394d75bc7f | 46 | * Includes : Mbed Library |
haarkon | 1:4f394d75bc7f | 47 | */ |
haarkon | 0:bc016581f12b | 48 | #include "mbed.h" |
haarkon | 0:bc016581f12b | 49 | |
haarkon | 1:4f394d75bc7f | 50 | /** |
haarkon | 1:4f394d75bc7f | 51 | * VMA306 Ultrasonic Range Finder |
haarkon | 1:4f394d75bc7f | 52 | * similar to SRF05 : https://www.robot-electronics.co.uk/htm/srf05tech.htm |
haarkon | 1:4f394d75bc7f | 53 | * Poor documentation can be found here (FR) : https://www.gotronic.fr/art-capteur-a-ultrasons-vma306-26096.htm |
haarkon | 1:4f394d75bc7f | 54 | */ |
haarkon | 0:bc016581f12b | 55 | class VMA306 { |
haarkon | 0:bc016581f12b | 56 | public: |
haarkon | 0:bc016581f12b | 57 | |
haarkon | 1:4f394d75bc7f | 58 | /** Constructor : Create a VMA306 object, connected to the specified pins |
haarkon | 0:bc016581f12b | 59 | * |
haarkon | 3:4d9c742b860b | 60 | * @param trigger (PinName) : DigitalOut to trigger the VMA306 |
haarkon | 3:4d9c742b860b | 61 | * @param echo (PinName) : InterruptIn to measure the return pulse width |
haarkon | 0:bc016581f12b | 62 | */ |
haarkon | 3:4d9c742b860b | 63 | VMA306(PinName trigG, PinName echoG, PinName trigB, PinName echoB, PinName trigD, PinName echoD); |
haarkon | 0:bc016581f12b | 64 | |
haarkon | 0:bc016581f12b | 65 | /** Gives indication of a new mesurement |
haarkon | 0:bc016581f12b | 66 | * |
haarkon | 0:bc016581f12b | 67 | * @return 1 if new data is ready, else 0 |
haarkon | 0:bc016581f12b | 68 | */ |
haarkon | 3:4d9c742b860b | 69 | int isUSGReady (); |
haarkon | 3:4d9c742b860b | 70 | |
haarkon | 3:4d9c742b860b | 71 | /** A non-blocking function that will return the last measurement |
haarkon | 3:4d9c742b860b | 72 | * |
haarkon | 3:4d9c742b860b | 73 | * @returns floating point representation of distance in cm |
haarkon | 3:4d9c742b860b | 74 | */ |
haarkon | 3:4d9c742b860b | 75 | float readUSG(); |
haarkon | 3:4d9c742b860b | 76 | /** Gives indication of a new mesurement |
haarkon | 3:4d9c742b860b | 77 | * |
haarkon | 3:4d9c742b860b | 78 | * @return 1 if new data is ready, else 0 |
haarkon | 3:4d9c742b860b | 79 | */ |
haarkon | 3:4d9c742b860b | 80 | int isUSBReady (); |
haarkon | 0:bc016581f12b | 81 | |
haarkon | 0:bc016581f12b | 82 | /** A non-blocking function that will return the last measurement |
haarkon | 0:bc016581f12b | 83 | * |
haarkon | 0:bc016581f12b | 84 | * @returns floating point representation of distance in cm |
haarkon | 0:bc016581f12b | 85 | */ |
haarkon | 3:4d9c742b860b | 86 | float readUSB(); |
haarkon | 3:4d9c742b860b | 87 | /** Gives indication of a new mesurement |
haarkon | 3:4d9c742b860b | 88 | * |
haarkon | 3:4d9c742b860b | 89 | * @return 1 if new data is ready, else 0 |
haarkon | 3:4d9c742b860b | 90 | */ |
haarkon | 3:4d9c742b860b | 91 | int isUSDReady (); |
haarkon | 3:4d9c742b860b | 92 | |
haarkon | 3:4d9c742b860b | 93 | /** A non-blocking function that will return the last measurement |
haarkon | 3:4d9c742b860b | 94 | * |
haarkon | 3:4d9c742b860b | 95 | * @returns floating point representation of distance in cm |
haarkon | 3:4d9c742b860b | 96 | */ |
haarkon | 3:4d9c742b860b | 97 | float readUSD(); |
haarkon | 0:bc016581f12b | 98 | |
haarkon | 0:bc016581f12b | 99 | private : |
haarkon | 4:a2c81d32d058 | 100 | DigitalOut _trig1; |
haarkon | 4:a2c81d32d058 | 101 | InterruptIn _echo1; |
haarkon | 4:a2c81d32d058 | 102 | DigitalOut _trig2; |
haarkon | 4:a2c81d32d058 | 103 | InterruptIn _echo2; |
haarkon | 4:a2c81d32d058 | 104 | DigitalOut _trig3; |
haarkon | 4:a2c81d32d058 | 105 | InterruptIn _echo3; |
haarkon | 3:4d9c742b860b | 106 | Timer _timer; |
haarkon | 3:4d9c742b860b | 107 | Ticker _ticker; |
haarkon | 3:4d9c742b860b | 108 | void _rise1 (void); |
haarkon | 3:4d9c742b860b | 109 | void _fall1 (void); |
haarkon | 3:4d9c742b860b | 110 | void _rise2 (void); |
haarkon | 3:4d9c742b860b | 111 | void _fall2 (void); |
haarkon | 3:4d9c742b860b | 112 | void _rise3 (void); |
haarkon | 3:4d9c742b860b | 113 | void _fall3 (void); |
haarkon | 3:4d9c742b860b | 114 | void _startRanging (void); |
haarkon | 3:4d9c742b860b | 115 | float _dist1, _dist2, _dist3; |
haarkon | 3:4d9c742b860b | 116 | int _VMA306Flag1, _VMA306Flag2, _VMA306Flag3; |
haarkon | 3:4d9c742b860b | 117 | int _startValue1, _startValue2, _startValue3; |
haarkon | 0:bc016581f12b | 118 | }; |
haarkon | 0:bc016581f12b | 119 | |
haarkon | 0:bc016581f12b | 120 | #endif |