Ultrasound Ranging Sensor module
Dependents: Lets_move_Seki2018_ver2 Lets_move_Seki2018_null UNKO_FINAL_PlamA_2 UNKO_FINAL_PlanA
Fork of HCSR04 by
hcsr04.cpp@8:e150242bce6b, 2018-09-05 (annotated)
- Committer:
- yuron
- Date:
- Wed Sep 05 15:06:24 2018 +0000
- Revision:
- 8:e150242bce6b
- Parent:
- 6:4be4fcd0c171
2018/09/05???B??????????????(??????????)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
prabhuvd | 0:fb0929f37ebe | 1 | /* Copyright (c) 2013 Prabhu Desai |
prabhuvd | 0:fb0929f37ebe | 2 | * pdtechworld@gmail.com |
prabhuvd | 0:fb0929f37ebe | 3 | * |
prabhuvd | 0:fb0929f37ebe | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
prabhuvd | 0:fb0929f37ebe | 5 | * and associated documentation files (the "Software"), to deal in the Software without restriction, |
prabhuvd | 0:fb0929f37ebe | 6 | * including without limitation the rights to use, copy, modify, merge, publish, distribute, |
prabhuvd | 0:fb0929f37ebe | 7 | * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is |
prabhuvd | 0:fb0929f37ebe | 8 | * furnished to do so, subject to the following conditions: |
prabhuvd | 0:fb0929f37ebe | 9 | * |
prabhuvd | 0:fb0929f37ebe | 10 | * The above copyright notice and this permission notice shall be included in all copies or |
prabhuvd | 0:fb0929f37ebe | 11 | * substantial portions of the Software. |
prabhuvd | 0:fb0929f37ebe | 12 | * |
prabhuvd | 0:fb0929f37ebe | 13 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
prabhuvd | 0:fb0929f37ebe | 14 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
prabhuvd | 0:fb0929f37ebe | 15 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
prabhuvd | 0:fb0929f37ebe | 16 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
prabhuvd | 0:fb0929f37ebe | 17 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
prabhuvd | 0:fb0929f37ebe | 18 | */ |
prabhuvd | 0:fb0929f37ebe | 19 | |
prabhuvd | 0:fb0929f37ebe | 20 | |
prabhuvd | 0:fb0929f37ebe | 21 | #include "hcsr04.h" |
prabhuvd | 0:fb0929f37ebe | 22 | |
prabhuvd | 0:fb0929f37ebe | 23 | |
prabhuvd | 6:4be4fcd0c171 | 24 | HCSR04::HCSR04(PinName TrigPin,PinName EchoPin): |
prabhuvd | 2:0acb6ade091c | 25 | trigger(TrigPin), echo(EchoPin) |
prabhuvd | 0:fb0929f37ebe | 26 | { |
yuron | 8:e150242bce6b | 27 | setTemp(15); |
prabhuvd | 0:fb0929f37ebe | 28 | pulsetime.stop(); |
prabhuvd | 0:fb0929f37ebe | 29 | pulsetime.reset(); |
prabhuvd | 6:4be4fcd0c171 | 30 | echo.rise(this,&HCSR04::isr_rise); |
prabhuvd | 6:4be4fcd0c171 | 31 | echo.fall(this,&HCSR04::isr_fall); |
prabhuvd | 2:0acb6ade091c | 32 | trigger=0; |
prabhuvd | 0:fb0929f37ebe | 33 | } |
prabhuvd | 0:fb0929f37ebe | 34 | |
prabhuvd | 6:4be4fcd0c171 | 35 | HCSR04::~HCSR04() |
prabhuvd | 0:fb0929f37ebe | 36 | { |
prabhuvd | 0:fb0929f37ebe | 37 | } |
prabhuvd | 0:fb0929f37ebe | 38 | |
prabhuvd | 6:4be4fcd0c171 | 39 | void HCSR04::start(void) |
prabhuvd | 2:0acb6ade091c | 40 | { |
yuron | 8:e150242bce6b | 41 | pulsetime_us = pulsetime.read_us(); |
yuron | 8:e150242bce6b | 42 | if(pulsetime_us > maxTime){ |
yuron | 8:e150242bce6b | 43 | pulsetime.stop(); |
yuron | 8:e150242bce6b | 44 | pulsetime.reset(); |
yuron | 8:e150242bce6b | 45 | trigger=1; |
yuron | 8:e150242bce6b | 46 | trigger=0; |
yuron | 8:e150242bce6b | 47 | } |
prabhuvd | 2:0acb6ade091c | 48 | trigger=1; |
prabhuvd | 2:0acb6ade091c | 49 | wait_us(10); |
prabhuvd | 2:0acb6ade091c | 50 | trigger=0; |
prabhuvd | 2:0acb6ade091c | 51 | } |
prabhuvd | 0:fb0929f37ebe | 52 | |
yuron | 8:e150242bce6b | 53 | void HCSR04::isr_rise(void) |
yuron | 8:e150242bce6b | 54 | { |
yuron | 8:e150242bce6b | 55 | pulsetime.start(); |
yuron | 8:e150242bce6b | 56 | } |
yuron | 8:e150242bce6b | 57 | |
prabhuvd | 6:4be4fcd0c171 | 58 | void HCSR04::isr_fall(void) |
prabhuvd | 0:fb0929f37ebe | 59 | { |
prabhuvd | 0:fb0929f37ebe | 60 | pulsetime.stop(); |
yuron | 8:e150242bce6b | 61 | pulsetime_us = pulsetime.read_us(); |
yuron | 8:e150242bce6b | 62 | if(pulsetime_us > maxTime){ |
yuron | 8:e150242bce6b | 63 | trigger=1; |
yuron | 8:e150242bce6b | 64 | trigger=0; |
yuron | 8:e150242bce6b | 65 | distance = 0; |
yuron | 8:e150242bce6b | 66 | }else{ |
yuron | 8:e150242bce6b | 67 | distance = pulsetime_us*sonic/20000; |
yuron | 8:e150242bce6b | 68 | } |
prabhuvd | 0:fb0929f37ebe | 69 | pulsetime.reset(); |
prabhuvd | 0:fb0929f37ebe | 70 | } |
prabhuvd | 4:33938a97d904 | 71 | |
prabhuvd | 6:4be4fcd0c171 | 72 | void HCSR04::rise (void (*fptr)(void)) |
prabhuvd | 0:fb0929f37ebe | 73 | { |
prabhuvd | 0:fb0929f37ebe | 74 | echo.rise(fptr); |
prabhuvd | 0:fb0929f37ebe | 75 | } |
prabhuvd | 6:4be4fcd0c171 | 76 | void HCSR04::fall (void (*fptr)(void)) |
prabhuvd | 0:fb0929f37ebe | 77 | { |
prabhuvd | 0:fb0929f37ebe | 78 | echo.fall(fptr); |
prabhuvd | 0:fb0929f37ebe | 79 | } |
prabhuvd | 0:fb0929f37ebe | 80 | |
prabhuvd | 6:4be4fcd0c171 | 81 | unsigned int HCSR04::get_dist_cm() |
prabhuvd | 0:fb0929f37ebe | 82 | { |
prabhuvd | 2:0acb6ade091c | 83 | return distance; |
prabhuvd | 0:fb0929f37ebe | 84 | } |
yuron | 8:e150242bce6b | 85 | |
yuron | 8:e150242bce6b | 86 | void HCSR04::setTemp(int temp){ |
yuron | 8:e150242bce6b | 87 | temperature = temp; |
yuron | 8:e150242bce6b | 88 | sonic = 331.5+0.61*temperature; |
yuron | 8:e150242bce6b | 89 | maxTime = 10*1000000/sonic; |
prabhuvd | 2:0acb6ade091c | 90 | } |
prabhuvd | 5:e70a24a88131 | 91 | |
prabhuvd | 5:e70a24a88131 | 92 | /******************************************************* |
prabhuvd | 5:e70a24a88131 | 93 | Here is a sample code usage |
prabhuvd | 5:e70a24a88131 | 94 | ********************************************************* |
prabhuvd | 5:e70a24a88131 | 95 | #include "hcsr04.h" |
prabhuvd | 6:4be4fcd0c171 | 96 | HCSR04 usensor(p25,p6); |
prabhuvd | 5:e70a24a88131 | 97 | int main() |
prabhuvd | 5:e70a24a88131 | 98 | { |
prabhuvd | 5:e70a24a88131 | 99 | unsigned char count=0; |
yuron | 8:e150242bce6b | 100 | setTep(20); |
prabhuvd | 5:e70a24a88131 | 101 | while(1) { |
prabhuvd | 5:e70a24a88131 | 102 | usensor.start(); |
prabhuvd | 5:e70a24a88131 | 103 | wait_ms(500); |
prabhuvd | 5:e70a24a88131 | 104 | dist=usensor.get_dist_cm(); |
prabhuvd | 5:e70a24a88131 | 105 | lcd.cls(); |
prabhuvd | 5:e70a24a88131 | 106 | lcd.locate(0,0); |
prabhuvd | 5:e70a24a88131 | 107 | lcd.printf("cm:%ld",dist ); |
prabhuvd | 5:e70a24a88131 | 108 | |
prabhuvd | 5:e70a24a88131 | 109 | count++; |
prabhuvd | 5:e70a24a88131 | 110 | lcd.locate(0,1); |
prabhuvd | 5:e70a24a88131 | 111 | lcd.printf("Distance =%d",count); |
prabhuvd | 5:e70a24a88131 | 112 | |
prabhuvd | 5:e70a24a88131 | 113 | } |
prabhuvd | 5:e70a24a88131 | 114 | */ |