Jan Kamidra / HC_SR04_Ultrasonic_Library

Cheap ultrasonic range finder works with interrupts. Fork of original https://os.mbed.com/components/HC-SR04/ and update for MbedOS6+

Dependents:   Nucleo_UltrasonicHelloWorld xxx_Sonar-HC-SR04_Lsg

ultrasonic.cpp

Committer:
JohnnyK
Date:
2021-06-10
Revision:
6:9808e2c61247
Parent:
5:6fd0e9c7ead4

File content as of revision 6:9808e2c61247:

 #include "ultrasonic.h"
    
    ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, Kernel::Clock::duration_u32 updateSpeed, Kernel::Clock::duration_u32 timeout):_trig(trigPin), _echo(echoPin)
    {
        _updateSpeed = updateSpeed;
        _timeout = timeout;
    }
    
    ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, Kernel::Clock::duration_u32 updateSpeed, Kernel::Clock::duration_u32 timeout, void onUpdate(int))
    :_trig(trigPin), _echo(echoPin)
    {
        _onUpdateMethod=onUpdate;
        _updateSpeed = updateSpeed;
        _timeout = timeout;
        _t.start ();
    }
    void ultrasonic::_startT()
    { 
        if(chrono::duration_cast<chrono::milliseconds>(_t.elapsed_time()).count()>600)
        {
            _t.reset ();
        }
        start = chrono::duration_cast<chrono::microseconds>(_t.elapsed_time()).count();
    }
        
    void ultrasonic::_updateDist()
    {
        end = chrono::duration_cast<chrono::microseconds>(_t.elapsed_time()).count();
        done = 1;
        _distance = (end - start)/6;       
        _tout.detach();
        _tout.attach(callback(this,&ultrasonic::_startTrig), _updateSpeed);   
    }
    void ultrasonic::_startTrig(void)
    {
            _tout.detach();
            _trig=1;             
            wait_us(10);        
            done = 0;            
            _echo.rise(callback(this,&ultrasonic::_startT));   
            _echo.fall(callback(this,&ultrasonic::_updateDist));
            _echo.enable_irq ();
            _tout.attach(callback(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(Kernel::Clock::duration_u32 updateSpeed)
    {
        _updateSpeed = updateSpeed;
    }
    int ultrasonic::isUpdated(void)
    {
        //printf("%d", done);
        d=done;
        done = 0;
        return d;
    }
    void ultrasonic::checkDistance(void)
    {
        if(isUpdated())
        {
            (*_onUpdateMethod)(_distance);
        }
    }