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SMART CLEO Uart Ultrasonic

HCSR04/HCSR04.h@0:5940ac32cd9f, 2017-09-28 (annotated)

Committer:
SMART_CLEO
Date:
Thu Sep 28 03:42:40 2017 +0000
Revision:
0:5940ac32cd9f
SMART_CLEO

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SMART_CLEO 0:5940ac32cd9f 1 #ifndef HCSR04_H_TVZMT
SMART_CLEO 0:5940ac32cd9f 2 #define HCSR04_H_TVZMT
SMART_CLEO 0:5940ac32cd9f 3
SMART_CLEO 0:5940ac32cd9f 4 /** A distance measurement class using ultrasonic sensor HC-SR04.
SMART_CLEO 0:5940ac32cd9f 5 *
SMART_CLEO 0:5940ac32cd9f 6 * Example of use:
SMART_CLEO 0:5940ac32cd9f 7 * @code
SMART_CLEO 0:5940ac32cd9f 8 * #include "mbed.h"
SMART_CLEO 0:5940ac32cd9f 9 * #include "HCSR04.h"
SMART_CLEO 0:5940ac32cd9f 10 *
SMART_CLEO 0:5940ac32cd9f 11 * Serial pc(USBTX, USBRX);
SMART_CLEO 0:5940ac32cd9f 12 * Timer timer;
SMART_CLEO 0:5940ac32cd9f 13 *
SMART_CLEO 0:5940ac32cd9f 14 * int main() {
SMART_CLEO 0:5940ac32cd9f 15 * HCSR04 sensor(p5, p7);
SMART_CLEO 0:5940ac32cd9f 16 * sensor.setRanges(10, 110);
SMART_CLEO 0:5940ac32cd9f 17 * pc.printf("Min. range = %g cm\n\rMax. range = %g cm\n\r",
SMART_CLEO 0:5940ac32cd9f 18 * sensor.getMinRange(), sensor.getMaxRange());
SMART_CLEO 0:5940ac32cd9f 19 * while(true) {
SMART_CLEO 0:5940ac32cd9f 20 * timer.reset();
SMART_CLEO 0:5940ac32cd9f 21 * timer.start();
SMART_CLEO 0:5940ac32cd9f 22 * sensor.startMeasurement();
SMART_CLEO 0:5940ac32cd9f 23 * while(!sensor.isNewDataReady()) {
SMART_CLEO 0:5940ac32cd9f 24 * // wait for new data
SMART_CLEO 0:5940ac32cd9f 25 * // waiting time depends on the distance
SMART_CLEO 0:5940ac32cd9f 26 * }
SMART_CLEO 0:5940ac32cd9f 27 * pc.printf("Distance: %5.1f mm\r", sensor.getDistance_mm());
SMART_CLEO 0:5940ac32cd9f 28 * timer.stop();
SMART_CLEO 0:5940ac32cd9f 29 * wait_ms(500 - timer.read_ms()); // time the loop
SMART_CLEO 0:5940ac32cd9f 30 * }
SMART_CLEO 0:5940ac32cd9f 31 * }
SMART_CLEO 0:5940ac32cd9f 32 * @endcode
SMART_CLEO 0:5940ac32cd9f 33 */
SMART_CLEO 0:5940ac32cd9f 34 class HCSR04 {
SMART_CLEO 0:5940ac32cd9f 35
SMART_CLEO 0:5940ac32cd9f 36 public:
SMART_CLEO 0:5940ac32cd9f 37
SMART_CLEO 0:5940ac32cd9f 38 /** Receives two PinName variables.
SMART_CLEO 0:5940ac32cd9f 39 * @param echoPin mbed pin to which the echo signal is connected to
SMART_CLEO 0:5940ac32cd9f 40 * @param triggerPin mbed pin to which the trigger signal is connected to
SMART_CLEO 0:5940ac32cd9f 41 */
SMART_CLEO 0:5940ac32cd9f 42 HCSR04(PinName echoPin, PinName triggerPin);
SMART_CLEO 0:5940ac32cd9f 43
SMART_CLEO 0:5940ac32cd9f 44 /** Start the measurement. Measurement time depends on the distance.
SMART_CLEO 0:5940ac32cd9f 45 * Maximum measurement time is limited to 25 ms (400 cm).
SMART_CLEO 0:5940ac32cd9f 46 */
SMART_CLEO 0:5940ac32cd9f 47 void startMeasurement();
SMART_CLEO 0:5940ac32cd9f 48
SMART_CLEO 0:5940ac32cd9f 49 /** Returns the distance in cm. Requires previous call of startMeasurement().
SMART_CLEO 0:5940ac32cd9f 50 * @returns distance of the measuring object in cm.
SMART_CLEO 0:5940ac32cd9f 51 */
SMART_CLEO 0:5940ac32cd9f 52 float getDistance_cm();
SMART_CLEO 0:5940ac32cd9f 53
SMART_CLEO 0:5940ac32cd9f 54 /** Returns the distance in mm. Requires previous call of startMeasurement().
SMART_CLEO 0:5940ac32cd9f 55 * @returns distance of the measuring object in mm.
SMART_CLEO 0:5940ac32cd9f 56 */
SMART_CLEO 0:5940ac32cd9f 57 float getDistance_mm();
SMART_CLEO 0:5940ac32cd9f 58
SMART_CLEO 0:5940ac32cd9f 59 /** Sets the minimum and maximum ranges between the factory values of 2 cm and 400 cm.
SMART_CLEO 0:5940ac32cd9f 60 * @param minRange Minimum range in cm. Must be between 2 cm and maxRange.
SMART_CLEO 0:5940ac32cd9f 61 * @param maxRange Maximum range in cm. Must be between minRange and 400 cm.
SMART_CLEO 0:5940ac32cd9f 62 */
SMART_CLEO 0:5940ac32cd9f 63 void setRanges(float minRange, float maxRange);
SMART_CLEO 0:5940ac32cd9f 64
SMART_CLEO 0:5940ac32cd9f 65 /** Retreives the minimum sensor range set by the user.
SMART_CLEO 0:5940ac32cd9f 66 * @returns the minimum sensor range set by the user in cm.
SMART_CLEO 0:5940ac32cd9f 67 */
SMART_CLEO 0:5940ac32cd9f 68 float getMinRange();
SMART_CLEO 0:5940ac32cd9f 69
SMART_CLEO 0:5940ac32cd9f 70 /** Retreives the maximum sensor range set by the user.
SMART_CLEO 0:5940ac32cd9f 71 * @returns the maximum sensor range set by the user in cm.
SMART_CLEO 0:5940ac32cd9f 72 */
SMART_CLEO 0:5940ac32cd9f 73 float getMaxRange();
SMART_CLEO 0:5940ac32cd9f 74
SMART_CLEO 0:5940ac32cd9f 75 /** Checks if the new data is ready.
SMART_CLEO 0:5940ac32cd9f 76 * @returns true if new data is ready, false otherwise.
SMART_CLEO 0:5940ac32cd9f 77 */
SMART_CLEO 0:5940ac32cd9f 78 bool isNewDataReady();
SMART_CLEO 0:5940ac32cd9f 79
SMART_CLEO 0:5940ac32cd9f 80 private:
SMART_CLEO 0:5940ac32cd9f 81
SMART_CLEO 0:5940ac32cd9f 82 InterruptIn echo; // echo pin
SMART_CLEO 0:5940ac32cd9f 83 DigitalOut trigger; // trigger pin
SMART_CLEO 0:5940ac32cd9f 84 Timer timer; // echo pulsewidth measurement
SMART_CLEO 0:5940ac32cd9f 85 float distance; // store the distance in cm
SMART_CLEO 0:5940ac32cd9f 86 float minDistance; // minimum measurable distance
SMART_CLEO 0:5940ac32cd9f 87 float maxDistance; // maximum measurable distance
SMART_CLEO 0:5940ac32cd9f 88 Timeout triggerTimeout, echoTimeout;
SMART_CLEO 0:5940ac32cd9f 89 bool newDataReady, timerStarted;
SMART_CLEO 0:5940ac32cd9f 90
SMART_CLEO 0:5940ac32cd9f 91 /** Start the timer. */
SMART_CLEO 0:5940ac32cd9f 92 void startTimer();
SMART_CLEO 0:5940ac32cd9f 93
SMART_CLEO 0:5940ac32cd9f 94 /** Stop the timer. */
SMART_CLEO 0:5940ac32cd9f 95 void stopTimer();
SMART_CLEO 0:5940ac32cd9f 96
SMART_CLEO 0:5940ac32cd9f 97 /** Initialization. */
SMART_CLEO 0:5940ac32cd9f 98 void init();
SMART_CLEO 0:5940ac32cd9f 99
SMART_CLEO 0:5940ac32cd9f 100 void turnOffTrigger();
SMART_CLEO 0:5940ac32cd9f 101 };
SMART_CLEO 0:5940ac32cd9f 102
SMART_CLEO 0:5940ac32cd9f 103 #endif