Thomas Hamilton
Interface class for the Max Botix ultrasonic range finder model 1210. It includes input methods for PWM, Analog, and Serial. A PwmIn class was created to allow the PWM input to be read. Now includes automatic range update via interrupts.
MB1210.cpp@1:b533b95e807a, 2010-08-23 (annotated)
- Committer:
- Blaze513
- Date:
- Mon Aug 23 01:12:57 2010 +0000
- Revision:
- 1:b533b95e807a
- Parent:
- 0:3d969e0b4ca0
- Child:
- 2:997b4057c879
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Blaze513 | 0:3d969e0b4ca0 | 1 | #include "MB1210.h" |
| Blaze513 | 0:3d969e0b4ca0 | 2 | |
| Blaze513 | 1:b533b95e807a | 3 | MB1210::MB1210(PinName pw, PinName an, PinName tx, PinName rx) : OperatingMode(0x00), |
| Blaze513 | 1:b533b95e807a | 4 | UnitFactor(1), PwmScalingFactor(17014.5), AnalogScalingFactor(1024), Range(0) |
| Blaze513 | 0:3d969e0b4ca0 | 5 | { |
| Blaze513 | 0:3d969e0b4ca0 | 6 | if (rx != NC) |
| Blaze513 | 0:3d969e0b4ca0 | 7 | { |
| Blaze513 | 0:3d969e0b4ca0 | 8 | SerialInput = new Serial(NC, rx); |
| Blaze513 | 0:3d969e0b4ca0 | 9 | SerialInput->baud(9600); |
| Blaze513 | 0:3d969e0b4ca0 | 10 | SerialInput->format(8, Serial::None, 1); |
| Blaze513 | 0:3d969e0b4ca0 | 11 | OperatingMode = 0x02; |
| Blaze513 | 0:3d969e0b4ca0 | 12 | } |
| Blaze513 | 0:3d969e0b4ca0 | 13 | if (an != NC) |
| Blaze513 | 0:3d969e0b4ca0 | 14 | { |
| Blaze513 | 0:3d969e0b4ca0 | 15 | AnalogInput = new AnalogIn(an); |
| Blaze513 | 0:3d969e0b4ca0 | 16 | OperatingMode = 0x01; |
| Blaze513 | 0:3d969e0b4ca0 | 17 | } |
| Blaze513 | 0:3d969e0b4ca0 | 18 | if (pw != NC) |
| Blaze513 | 0:3d969e0b4ca0 | 19 | { |
| Blaze513 | 0:3d969e0b4ca0 | 20 | PwmInput = new PwmIn(pw); |
| Blaze513 | 0:3d969e0b4ca0 | 21 | OperatingMode = 0x00; |
| Blaze513 | 0:3d969e0b4ca0 | 22 | } |
| Blaze513 | 0:3d969e0b4ca0 | 23 | if (tx != NC) |
| Blaze513 | 0:3d969e0b4ca0 | 24 | { |
| Blaze513 | 0:3d969e0b4ca0 | 25 | SerialOutput = new DigitalOut(tx); |
| Blaze513 | 0:3d969e0b4ca0 | 26 | SerialOutput->write(0); |
| Blaze513 | 0:3d969e0b4ca0 | 27 | } |
| Blaze513 | 0:3d969e0b4ca0 | 28 | } |
| Blaze513 | 0:3d969e0b4ca0 | 29 | //constructor dynamically allocates memory and cpu time (interrupts) |
| Blaze513 | 0:3d969e0b4ca0 | 30 | //to input objects depending on how the device is connected |
| Blaze513 | 0:3d969e0b4ca0 | 31 | |
| Blaze513 | 0:3d969e0b4ca0 | 32 | MB1210::~MB1210() |
| Blaze513 | 0:3d969e0b4ca0 | 33 | { |
| Blaze513 | 0:3d969e0b4ca0 | 34 | delete PwmInput; |
| Blaze513 | 0:3d969e0b4ca0 | 35 | delete AnalogInput; |
| Blaze513 | 0:3d969e0b4ca0 | 36 | delete SerialOutput; |
| Blaze513 | 0:3d969e0b4ca0 | 37 | delete SerialInput; |
| Blaze513 | 0:3d969e0b4ca0 | 38 | delete this; |
| Blaze513 | 0:3d969e0b4ca0 | 39 | } |
| Blaze513 | 0:3d969e0b4ca0 | 40 | //input objects must be deallocated |
| Blaze513 | 0:3d969e0b4ca0 | 41 | |
| Blaze513 | 0:3d969e0b4ca0 | 42 | void MB1210::SoundVelocity(float MetersPerSecond) |
| Blaze513 | 0:3d969e0b4ca0 | 43 | { |
| Blaze513 | 0:3d969e0b4ca0 | 44 | PwmScalingFactor = (UnitFactor * MetersPerSecond * 50); |
| Blaze513 | 0:3d969e0b4ca0 | 45 | } |
| Blaze513 | 0:3d969e0b4ca0 | 46 | //set the velocity of sound for pwm readings |
| Blaze513 | 0:3d969e0b4ca0 | 47 | |
| Blaze513 | 0:3d969e0b4ca0 | 48 | void MB1210::Voltage(float Volts) |
| Blaze513 | 0:3d969e0b4ca0 | 49 | { |
| Blaze513 | 0:3d969e0b4ca0 | 50 | AnalogScalingFactor = (UnitFactor * 3379.2 / Volts); |
| Blaze513 | 0:3d969e0b4ca0 | 51 | } |
| Blaze513 | 0:3d969e0b4ca0 | 52 | //set the voltage correction factor for analog readings |
| Blaze513 | 0:3d969e0b4ca0 | 53 | |
| Blaze513 | 0:3d969e0b4ca0 | 54 | void MB1210::Unit(float UnitsPerMeter) |
| Blaze513 | 0:3d969e0b4ca0 | 55 | { |
| Blaze513 | 0:3d969e0b4ca0 | 56 | PwmScalingFactor *= (UnitsPerMeter / UnitFactor / 100); |
| Blaze513 | 0:3d969e0b4ca0 | 57 | AnalogScalingFactor *= (UnitsPerMeter / UnitFactor / 100); |
| Blaze513 | 0:3d969e0b4ca0 | 58 | UnitFactor = UnitsPerMeter / 100; |
| Blaze513 | 0:3d969e0b4ca0 | 59 | } |
| Blaze513 | 0:3d969e0b4ca0 | 60 | //set the unit factor to return the range in units other than cm |
| Blaze513 | 0:3d969e0b4ca0 | 61 | |
| Blaze513 | 0:3d969e0b4ca0 | 62 | void MB1210::Mode(char Selection) |
| Blaze513 | 0:3d969e0b4ca0 | 63 | { |
| Blaze513 | 0:3d969e0b4ca0 | 64 | if (SerialOutput) |
| Blaze513 | 0:3d969e0b4ca0 | 65 | { |
| Blaze513 | 0:3d969e0b4ca0 | 66 | SerialOutput->write(Selection & 0x04); |
| Blaze513 | 0:3d969e0b4ca0 | 67 | } |
| Blaze513 | 0:3d969e0b4ca0 | 68 | OperatingMode = Selection & 0x03; |
| Blaze513 | 0:3d969e0b4ca0 | 69 | } |
| Blaze513 | 0:3d969e0b4ca0 | 70 | //change the operating mode; SerialOutput controls synchronicity |
| Blaze513 | 0:3d969e0b4ca0 | 71 | |
| Blaze513 | 0:3d969e0b4ca0 | 72 | void MB1210::RequestSyncRead() |
| Blaze513 | 0:3d969e0b4ca0 | 73 | { |
| Blaze513 | 0:3d969e0b4ca0 | 74 | if (SerialOutput) |
| Blaze513 | 0:3d969e0b4ca0 | 75 | { |
| Blaze513 | 0:3d969e0b4ca0 | 76 | SerialOutput->write(1); |
| Blaze513 | 0:3d969e0b4ca0 | 77 | wait_us(20); |
| Blaze513 | 0:3d969e0b4ca0 | 78 | SerialOutput->write(0); |
| Blaze513 | 0:3d969e0b4ca0 | 79 | } |
| Blaze513 | 0:3d969e0b4ca0 | 80 | } |
| Blaze513 | 0:3d969e0b4ca0 | 81 | //hold pin high for at least 20 us to request a synchronous range reading |
| Blaze513 | 0:3d969e0b4ca0 | 82 | |
| Blaze513 | 0:3d969e0b4ca0 | 83 | float MB1210::Read() |
| Blaze513 | 0:3d969e0b4ca0 | 84 | { |
| Blaze513 | 0:3d969e0b4ca0 | 85 | switch (OperatingMode) |
| Blaze513 | 0:3d969e0b4ca0 | 86 | { |
| Blaze513 | 0:3d969e0b4ca0 | 87 | case 0: |
| Blaze513 | 0:3d969e0b4ca0 | 88 | if (PwmInput) |
| Blaze513 | 0:3d969e0b4ca0 | 89 | { |
| Blaze513 | 0:3d969e0b4ca0 | 90 | return PwmInput->pulsewidth() * PwmScalingFactor; |
| Blaze513 | 0:3d969e0b4ca0 | 91 | } |
| Blaze513 | 0:3d969e0b4ca0 | 92 | else |
| Blaze513 | 0:3d969e0b4ca0 | 93 | { |
| Blaze513 | 0:3d969e0b4ca0 | 94 | return 0; |
| Blaze513 | 0:3d969e0b4ca0 | 95 | } |
| Blaze513 | 0:3d969e0b4ca0 | 96 | case 1: |
| Blaze513 | 0:3d969e0b4ca0 | 97 | if (AnalogInput) |
| Blaze513 | 0:3d969e0b4ca0 | 98 | { |
| Blaze513 | 0:3d969e0b4ca0 | 99 | return AnalogInput->read() * AnalogScalingFactor; |
| Blaze513 | 0:3d969e0b4ca0 | 100 | } |
| Blaze513 | 0:3d969e0b4ca0 | 101 | else |
| Blaze513 | 0:3d969e0b4ca0 | 102 | { |
| Blaze513 | 0:3d969e0b4ca0 | 103 | return 0; |
| Blaze513 | 0:3d969e0b4ca0 | 104 | } |
| Blaze513 | 0:3d969e0b4ca0 | 105 | case 2: |
| Blaze513 | 0:3d969e0b4ca0 | 106 | if (SerialInput) |
| Blaze513 | 0:3d969e0b4ca0 | 107 | { |
| Blaze513 | 1:b533b95e807a | 108 | unsigned char i = 0; |
| Blaze513 | 1:b533b95e807a | 109 | while (SerialInput->readable() && !SerialInput->scanf("R%3d", &Range) && (i < 32)) |
| Blaze513 | 0:3d969e0b4ca0 | 110 | { |
| Blaze513 | 1:b533b95e807a | 111 | SerialInput->getc(); |
| Blaze513 | 1:b533b95e807a | 112 | i++; |
| Blaze513 | 0:3d969e0b4ca0 | 113 | } |
| Blaze513 | 1:b533b95e807a | 114 | return (float)Range * UnitFactor; |
| Blaze513 | 0:3d969e0b4ca0 | 115 | } |
| Blaze513 | 0:3d969e0b4ca0 | 116 | else |
| Blaze513 | 0:3d969e0b4ca0 | 117 | { |
| Blaze513 | 0:3d969e0b4ca0 | 118 | return 0; |
| Blaze513 | 0:3d969e0b4ca0 | 119 | } |
| Blaze513 | 0:3d969e0b4ca0 | 120 | default: |
| Blaze513 | 0:3d969e0b4ca0 | 121 | return 0; |
| Blaze513 | 0:3d969e0b4ca0 | 122 | } |
| Blaze513 | 0:3d969e0b4ca0 | 123 | } |
| Blaze513 | 0:3d969e0b4ca0 | 124 | //OperatingMode switches to desired output method; |
| Blaze513 | 0:3d969e0b4ca0 | 125 | //once gathered, the result is scaled according to voltage, the speed of sound, and desired unit |
| Blaze513 | 0:3d969e0b4ca0 | 126 | void MB1210::Read(char* Buffer) |
| Blaze513 | 0:3d969e0b4ca0 | 127 | { |
| Blaze513 | 0:3d969e0b4ca0 | 128 | if (SerialInput) |
| Blaze513 | 0:3d969e0b4ca0 | 129 | { |
| Blaze513 | 1:b533b95e807a | 130 | unsigned char i = 0; |
| Blaze513 | 1:b533b95e807a | 131 | while (SerialInput->readable() && !SerialInput->scanf("R%3s", Buffer) && (i < 32)) |
| Blaze513 | 0:3d969e0b4ca0 | 132 | { |
| Blaze513 | 1:b533b95e807a | 133 | SerialInput->getc(); |
| Blaze513 | 1:b533b95e807a | 134 | i++; |
| Blaze513 | 0:3d969e0b4ca0 | 135 | } |
| Blaze513 | 0:3d969e0b4ca0 | 136 | } |
| Blaze513 | 0:3d969e0b4ca0 | 137 | } |
| Blaze513 | 0:3d969e0b4ca0 | 138 | //this overload is for serial only, regardless of selected mode; |
| Blaze513 | 0:3d969e0b4ca0 | 139 | //reads 3 ASCII character result into the given buffer |
| Blaze513 | 0:3d969e0b4ca0 | 140 | |
| Blaze513 | 0:3d969e0b4ca0 | 141 | MB1210::operator float() |
| Blaze513 | 0:3d969e0b4ca0 | 142 | { |
| Blaze513 | 0:3d969e0b4ca0 | 143 | return Read(); |
| Blaze513 | 0:3d969e0b4ca0 | 144 | } |
| Blaze513 | 0:3d969e0b4ca0 | 145 | //conversion function acts as shorthand for Read() |