Diff: VMA306.cpp

Revision:

3:4d9c742b860b

Parent:

2:6bb02f1d4ca6

--- a/VMA306.cpp	Tue May 22 17:15:57 2018 +0000
+++ b/VMA306.cpp	Thu May 31 17:27:14 2018 +0000
@@ -3,49 +3,121 @@
 
 #include "VMA306.h"
 
-VMA306::VMA306(PinName trigger, PinName echo) 
-    : _trigger(trigger), _echo(echo) {    
-        
+VMA306::VMA306(PinName trigG, PinName echoG, PinName trigB, PinName echoB, PinName trigD, PinName echoD)
+    : _trig1(trigG), _echo1(echoG), _trig2(trigB), _echo2(echoB), _trig3(trigD), _echo3(echoD)
+{
+
     // Attach interrupts
-    _echo.rise(callback(this, &VMA306::_rising));
-    _echo.fall(callback(this, &VMA306::_falling));
+    _ticker.attach(callback(this, &VMA306::_startRanging), 0.05);
+
+    _echo1.rise(callback(this, &VMA306::_rise1));
+    _echo1.fall(callback(this, &VMA306::_fall1));
+    _echo1.enable_irq();
+    _echo2.rise(callback(this, &VMA306::_rise2));
+    _echo2.fall(callback(this, &VMA306::_fall2));
+    _echo2.enable_irq();
+    _echo3.rise(callback(this, &VMA306::_rise3));
+    _echo3.fall(callback(this, &VMA306::_fall3));
+    _echo3.enable_irq();
+    _timer.start();
 }
-  
-void VMA306::_startRange() {
-    // send a trigger pulse, 20uS long
-    _trigger = 1;
-    wait (0.000002);
-    _trigger = 0;
+
+void VMA306::_startRanging()
+{
+    static int step = 1;
+
+    switch(step) {
+        case 1:
+            _trig1 = 1;
+            wait_us(20);
+            _trig1 = 0;
+            step = 2;
+            break;
+
+        case 2:
+            _trig2 = 1;
+            wait_us(20);
+            _trig2 = 0;
+            step = 3;
+            break;
+
+        case 3:
+            _trig3 = 1;
+            wait_us(20);
+            _trig3 = 0;
+            step = 1;
+            break;
+    }
 }
 
 // Clear and start the timer at the begining of the echo pulse
-void VMA306::_rising(void) {
-    _timer.reset();
-    _timer.start();
+void VMA306::_rise1(void)
+{
+    _startValue1 = _timer.read_us();
 }
 
 // Stop and read the timer at the end of the pulse
-void VMA306::_falling(void) {
-    _timer.stop();
-    _dist = _timer.read_us()/58.0;
-    _VMA306Flag = 1;
+void VMA306::_fall1(void)
+{
+    _dist1 = (double)(_timer.read_us() - _startValue1)/58.0;
+    _VMA306Flag1 = 1;
+}
+
+// Clear and start the timer at the begining of the echo pulse
+void VMA306::_rise2(void)
+{
+    _startValue2 = _timer.read_us();
+}
+
+// Stop and read the timer at the end of the pulse
+void VMA306::_fall2(void)
+{
+    _dist2 = (double)(_timer.read_us() - _startValue2)/58.0;
+    _VMA306Flag2 = 1;
+}
+
+// Clear and start the timer at the begining of the echo pulse
+void VMA306::_rise3(void)
+{
+    _startValue3 = _timer.read_us();
+}
+
+// Stop and read the timer at the end of the pulse
+void VMA306::_fall3(void)
+{
+    _dist3 = (double)(_timer.read_us() - _startValue3)/58.0;
+    _VMA306Flag3 = 1;
 }
 
-void VMA306::startPeriodicTrigger (float period) {
-    _ticker.attach(callback(this, &VMA306::_startRange), period);
-}  
+int VMA306::isUSGReady (void)
+{
+    return (_VMA306Flag1);
+}
 
-int VMA306::isDataReady (void){
-    return (_VMA306Flag);
+int VMA306::isUSBReady (void)
+{
+    return (_VMA306Flag2);
+}
+
+int VMA306::isUSDReady (void)
+{
+    return (_VMA306Flag3);
 }
 
-
-float VMA306::read(void) {
-    _VMA306Flag = 0;
-    return (_dist);
+float VMA306::readUSG(void)
+{
+    _VMA306Flag1 = 0;
+    return (_dist1);
 }
 
-VMA306::operator float() {
-    _VMA306Flag = 0;
-    return read();
+float VMA306::readUSB(void)
+{
+    _VMA306Flag2 = 0;
+    return (_dist2);
 }
+
+float VMA306::readUSD(void)
+{
+    _VMA306Flag3 = 0;
+    return (_dist3);
+}