Ryo Ogata / Mbed 2 deprecated jumpROBO4_0

miseru

Dependencies:   ColorSensor HMC6352 Servo TextLCD mbed

ping/ping.cpp@0:4c9a3b107572, 2013-09-12 (annotated)

Committer:
OGA
Date:
Thu Sep 12 12:10:38 2013 +0000
Revision:
0:4c9a3b107572
sensei

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OGA 0:4c9a3b107572 1 #include "mbed.h"
OGA 0:4c9a3b107572 2 #include "ping.h"
OGA 0:4c9a3b107572 3
OGA 0:4c9a3b107572 4 //DigitalOut myled = LED1;
OGA 0:4c9a3b107572 5
OGA 0:4c9a3b107572 6 extern Timer timer2;
OGA 0:4c9a3b107572 7
OGA 0:4c9a3b107572 8 uint16_t ultrasonicVal[ALL_ULTRASONIC];
OGA 0:4c9a3b107572 9 double ultrasonicValue[ALL_ULTRASONIC] = {0};
OGA 0:4c9a3b107572 10
OGA 0:4c9a3b107572 11
OGA 0:4c9a3b107572 12 void Ultrasonic()
OGA 0:4c9a3b107572 13 {
OGA 0:4c9a3b107572 14 for(int i = 0 ; i < ALL_ULTRASONIC; i++){
OGA 0:4c9a3b107572 15
OGA 0:4c9a3b107572 16 uint8_t flag = 0;
OGA 0:4c9a3b107572 17
OGA 0:4c9a3b107572 18 DigitalOut PingPinOut(ultrasonic_pin[i]);
OGA 0:4c9a3b107572 19 PingPinOut = 1;
OGA 0:4c9a3b107572 20 wait_us(10);
OGA 0:4c9a3b107572 21 PingPinOut = 0;
OGA 0:4c9a3b107572 22 DigitalIn PingPin(ultrasonic_pin[i]);
OGA 0:4c9a3b107572 23 timer2.reset();
OGA 0:4c9a3b107572 24 while(PingPin == 0){
OGA 0:4c9a3b107572 25 if(timer2.read_us() > 1500){ //1.5ms以上応答なし
OGA 0:4c9a3b107572 26 ultrasonicValue[i] = PING_ERR;
OGA 0:4c9a3b107572 27 flag = 1;
OGA 0:4c9a3b107572 28 break;
OGA 0:4c9a3b107572 29 }
OGA 0:4c9a3b107572 30 }
OGA 0:4c9a3b107572 31
OGA 0:4c9a3b107572 32 timer2.reset();
OGA 0:4c9a3b107572 33 while(PingPin == 1){
OGA 0:4c9a3b107572 34 if((timer2.read_us() > 18500) || (flag == 1)){ //18.5ms以上のパルス
OGA 0:4c9a3b107572 35 ultrasonicValue[i] = PING_ERR;
OGA 0:4c9a3b107572 36 flag = 1;
OGA 0:4c9a3b107572 37 break;
OGA 0:4c9a3b107572 38 }
OGA 0:4c9a3b107572 39 }
OGA 0:4c9a3b107572 40
OGA 0:4c9a3b107572 41 if(flag == 0){
OGA 0:4c9a3b107572 42 ultrasonicValue[i] = timer2.read_us() / 1000000.0 / 2.0 * 340.0 * 1000.0; //mm MAX:3145
OGA 0:4c9a3b107572 43 ultrasonicVal[i] = (int)(ultrasonicValue[i] * 10.0);
OGA 0:4c9a3b107572 44 }else{
OGA 0:4c9a3b107572 45 ultrasonicVal[i] = PING_ERR;
OGA 0:4c9a3b107572 46 }
OGA 0:4c9a3b107572 47
OGA 0:4c9a3b107572 48 }
OGA 0:4c9a3b107572 49 }