Revision 0:e2f25a48d4d9, committed 2016-09-01

Comitter:

azadmehr

Date:

Thu Sep 01 08:54:38 2016 +0000

Commit message:

La til ultralyd sensor

Changed in this revision

diff -r 000000000000 -r e2f25a48d4d9 ultrasonic.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ultrasonic.cpp	Thu Sep 01 08:54:38 2016 +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);
+        }
+    }

diff -r 000000000000 -r e2f25a48d4d9 ultrasonic.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ultrasonic.h	Thu Sep 01 08:54:38 2016 +0000
@@ -0,0 +1,47 @@
+#ifndef MBED_ULTRASONIC_H
+#define MBED_ULTRASONIC_H
+
+#include "mbed.h"
+
+class ultrasonic
+{
+    public:
+        /**iniates the class with the specified trigger pin, echo pin, update speed and timeout**/
+        ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout);
+        /**iniates the class with the specified trigger pin, echo pin, update speed, timeout and method to call when the distance changes**/
+        ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int));
+        /** returns the last measured distance**/
+        int getCurrentDistance(void);
+        /**pauses measuring the distance**/
+        void pauseUpdates(void);
+        /**starts mesuring the distance**/
+        void startUpdates(void);
+        /**attachs the method to be called when the distances changes**/
+        void attachOnUpdate(void method(int));
+        /**changes the speed at which updates are made**/
+        void changeUpdateSpeed(float updateSpeed);
+        /**gets whether the distance has been changed since the last call of isUpdated() or checkDistance()**/
+        int isUpdated(void);
+        /**gets the speed at which updates are made**/
+        float getUpdateSpeed(void);
+        /**call this as often as possible in your code, eg. at the end of a while(1) loop,
+        and it will check whether the method you have attached needs to be called**/
+        void checkDistance(void);
+    private:
+        DigitalOut _trig;
+        InterruptIn _echo;
+        Timer _t;
+        Timeout _tout;
+        int _distance;
+        float _updateSpeed;
+        int start;
+        int end;
+        volatile int done;
+        void (*_onUpdateMethod)(int);
+        void _startT(void);
+        void _updateDist(void);
+        void _startTrig(void);
+        float _timeout;
+        int d;
+};
+#endif
\ No newline at end of file