NITICRobotClub 2018Team-B / HCSR04

かんたくんのやつです。

Fork of HCSR04 by Prabhu Desai

hcsr04.h@4:33938a97d904, 2013-03-30 (annotated)

Committer:
prabhuvd
Date:
Sat Mar 30 18:46:01 2013 +0000
Revision:
4:33938a97d904
Parent:
3:e6795cb9439c
Child:
6:4be4fcd0c171
Updated comments

Who changed what in which revision?

UserRevisionLine numberNew 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 *
prabhuvd 0:fb0929f37ebe 5 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
prabhuvd 0:fb0929f37ebe 6 * and associated documentation files (the "Software"), to deal in the Software without restriction,
prabhuvd 0:fb0929f37ebe 7 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
prabhuvd 0:fb0929f37ebe 8 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
prabhuvd 0:fb0929f37ebe 9 * furnished to do so, subject to the following conditions:
prabhuvd 0:fb0929f37ebe 10 *
prabhuvd 0:fb0929f37ebe 11 * The above copyright notice and this permission notice shall be included in all copies or
prabhuvd 0:fb0929f37ebe 12 * substantial portions of the Software.
prabhuvd 0:fb0929f37ebe 13 *
prabhuvd 0:fb0929f37ebe 14 * For more details on the sensor :
prabhuvd 0:fb0929f37ebe 15 * http://www.elecfreaks.com/store/hcsr04-ultrasonic-sensor-distance-measuring-module-p-91.html?zenid=pgm8pgnvaodbe36dibq5s1soi3
prabhuvd 0:fb0929f37ebe 16 *
prabhuvd 0:fb0929f37ebe 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
prabhuvd 0:fb0929f37ebe 18 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
prabhuvd 0:fb0929f37ebe 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
prabhuvd 0:fb0929f37ebe 20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
prabhuvd 0:fb0929f37ebe 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
prabhuvd 0:fb0929f37ebe 22 */
prabhuvd 0:fb0929f37ebe 23
prabhuvd 0:fb0929f37ebe 24 #ifndef MBED_HCSR04_H
prabhuvd 0:fb0929f37ebe 25 #define MBED_HCSR04_H
prabhuvd 0:fb0929f37ebe 26
prabhuvd 0:fb0929f37ebe 27 #include "mbed.h"
prabhuvd 0:fb0929f37ebe 28
prabhuvd 0:fb0929f37ebe 29 /** Distance Measure Class(es)
prabhuvd 0:fb0929f37ebe 30 */
prabhuvd 0:fb0929f37ebe 31
prabhuvd 0:fb0929f37ebe 32 class DistMeasure
prabhuvd 0:fb0929f37ebe 33 {
prabhuvd 0:fb0929f37ebe 34 public:
prabhuvd 0:fb0929f37ebe 35 /** Create a DistMeasure object connected to the specified pin
prabhuvd 0:fb0929f37ebe 36 * @param pin i/o pin to connect to
prabhuvd 0:fb0929f37ebe 37 */
prabhuvd 2:0acb6ade091c 38 DistMeasure(PinName TrigPin,PinName EchoPin);
prabhuvd 0:fb0929f37ebe 39 ~DistMeasure();
prabhuvd 0:fb0929f37ebe 40
prabhuvd 0:fb0929f37ebe 41 /** Return the distance from obstacle in cm
prabhuvd 0:fb0929f37ebe 42 * @param distance in cms and returns -1, in case of failure
prabhuvd 0:fb0929f37ebe 43 */
prabhuvd 2:0acb6ade091c 44 unsigned int get_dist_cm(void);
prabhuvd 4:33938a97d904 45 /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver.
prabhuvd 4:33938a97d904 46 * @param pulse duration in microseconds.
prabhuvd 4:33938a97d904 47 */
prabhuvd 2:0acb6ade091c 48 unsigned int get_pulse_us(void);
prabhuvd 4:33938a97d904 49 /** Generates the trigger pulse of 10us on the trigger PIN.
prabhuvd 4:33938a97d904 50 */
prabhuvd 3:e6795cb9439c 51 void start(void );
prabhuvd 0:fb0929f37ebe 52 void isr_rise(void);
prabhuvd 0:fb0929f37ebe 53 void isr_fall(void);
prabhuvd 0:fb0929f37ebe 54 void fall (void (*fptr)(void));
prabhuvd 0:fb0929f37ebe 55 void rise (void (*fptr)(void));
prabhuvd 4:33938a97d904 56
prabhuvd 0:fb0929f37ebe 57
prabhuvd 0:fb0929f37ebe 58
prabhuvd 0:fb0929f37ebe 59 private:
prabhuvd 0:fb0929f37ebe 60
prabhuvd 0:fb0929f37ebe 61 Timer pulsetime;
prabhuvd 0:fb0929f37ebe 62 DigitalOut trigger;
prabhuvd 0:fb0929f37ebe 63 InterruptIn echo;
prabhuvd 0:fb0929f37ebe 64 unsigned int pulsedur;
prabhuvd 4:33938a97d904 65 unsigned int distance;
prabhuvd 0:fb0929f37ebe 66 };
prabhuvd 0:fb0929f37ebe 67
prabhuvd 0:fb0929f37ebe 68 #endif