Revision 0:36e2fa5ac56d, committed 2017-12-06

Comitter:

SMART_CLEO

Date:

Wed Dec 06 08:51:15 2017 +0000

Commit message:

SMART_CLEO

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04/HCSR04.cpp	Wed Dec 06 08:51:15 2017 +0000
@@ -0,0 +1,81 @@
+#include "mbed.h"
+#include "HCSR04.h"
+
+HCSR04::HCSR04(PinName echoPin, PinName triggerPin) : echo(echoPin), trigger(triggerPin) {
+    init();
+}
+
+void HCSR04::init() {
+    distance = -1;      // initial distance
+    minDistance = 2;
+    maxDistance = 400;
+    newDataReady = timerStarted = false;
+}
+
+void HCSR04::startTimer() {
+    if (!timerStarted) {
+        timer.start(); // start the timer
+        timerStarted = true;
+        echoTimeout.attach_us(this, &HCSR04::stopTimer, 25000); // in case echo fall does not occur
+        echo.fall(this, &HCSR04::stopTimer);
+        echo.rise(NULL);
+    }
+}
+
+void HCSR04::stopTimer() {
+    timer.stop(); // stop the timer
+    if (timerStarted) {
+        distance = timer.read() * 1e6 / 58;
+        if (distance < minDistance)
+            distance = minDistance;
+        if (distance > maxDistance)
+            distance = maxDistance;
+        newDataReady = true;
+    }
+    timer.reset();
+    timerStarted = false;
+    echoTimeout.detach();
+    echo.fall(NULL);
+}
+
+void HCSR04::turnOffTrigger() {
+    trigger = 0; 
+}
+
+void HCSR04::startMeasurement() {
+    trigger = 1;
+    triggerTimeout.attach_us(this, &HCSR04::turnOffTrigger, 10);
+    echo.rise(this, &HCSR04::startTimer);
+    newDataReady = false;
+}
+
+float HCSR04::getDistance_cm() {
+    newDataReady = false;
+    return distance;
+}
+
+float HCSR04::getDistance_mm() {
+    newDataReady = false;
+    return distance * 10;
+}
+
+bool HCSR04::isNewDataReady() {
+    return newDataReady;
+}
+
+void HCSR04::setRanges(float minRange, float maxRange) {
+    if (minRange < maxRange) {
+        if (minRange >= 2 && minRange < 400) // bug from revs. 4 and 5 corrected
+            minDistance = minRange;
+        if (maxRange <= 400)
+            maxDistance = maxRange;
+    }
+}
+
+float HCSR04::getMinRange() {
+    return minDistance;
+}
+
+float HCSR04::getMaxRange() {
+    return maxDistance;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04/HCSR04.h	Wed Dec 06 08:51:15 2017 +0000
@@ -0,0 +1,103 @@
+#ifndef HCSR04_H_TVZMT
+#define HCSR04_H_TVZMT
+
+/** A distance measurement class using ultrasonic sensor HC-SR04.
+ *  
+ * Example of use:
+ * @code
+ * #include "mbed.h"
+ * #include "HCSR04.h"
+ *
+ * Serial pc(USBTX, USBRX);
+ * Timer timer;
+ *
+ * int main() {
+ *     HCSR04 sensor(p5, p7);
+ *     sensor.setRanges(10, 110);
+ *     pc.printf("Min. range = %g cm\n\rMax. range = %g cm\n\r",
+ *       sensor.getMinRange(), sensor.getMaxRange());
+ *     while(true) {
+ *         timer.reset();
+ *         timer.start();
+ *         sensor.startMeasurement();
+ *         while(!sensor.isNewDataReady()) {
+ *             // wait for new data
+ *             // waiting time depends on the distance
+ *         }
+ *         pc.printf("Distance: %5.1f mm\r", sensor.getDistance_mm());
+ *         timer.stop();
+ *         wait_ms(500 - timer.read_ms()); // time the loop
+ *     }
+ * }
+ * @endcode
+ */
+class HCSR04 {
+    
+    public:
+    
+    /** Receives two PinName variables.
+     * @param echoPin mbed pin to which the echo signal is connected to
+     * @param triggerPin mbed pin to which the trigger signal is connected to
+     */
+    HCSR04(PinName echoPin, PinName triggerPin);
+    
+    /** Start the measurement. Measurement time depends on the distance.
+     *  Maximum measurement time is limited to 25 ms (400 cm).
+     */
+    void startMeasurement();
+    
+    /** Returns the distance in cm. Requires previous call of startMeasurement().
+     * @returns distance of the measuring object in cm.
+     */
+    float getDistance_cm();
+    
+    /** Returns the distance in mm. Requires previous call of startMeasurement().
+     * @returns distance of the measuring object in mm.
+     */
+    float getDistance_mm();
+    
+    /** Sets the minimum and maximum ranges between the factory values of 2 cm and 400 cm.
+     *  @param minRange Minimum range in cm. Must be between 2 cm and maxRange.
+     *  @param maxRange Maximum range in cm. Must be between minRange and 400 cm.
+     */
+    void setRanges(float minRange, float maxRange);
+    
+    /** Retreives the minimum sensor range set by the user.
+     * @returns the minimum sensor range set by the user in cm.
+     */
+    float getMinRange();
+    
+    /** Retreives the maximum sensor range set by the user.
+     * @returns the maximum sensor range set by the user in cm.
+     */
+    float getMaxRange();
+    
+    /** Checks if the new data is ready.
+     * @returns true if new data is ready, false otherwise.
+     */
+    bool isNewDataReady();
+    
+    private:
+    
+    InterruptIn echo;       // echo pin
+    DigitalOut trigger;     // trigger pin
+    Timer timer;            // echo pulsewidth measurement
+    float distance;         // store the distance in cm
+    float minDistance;      // minimum measurable distance
+    float maxDistance;      // maximum measurable distance
+    Timeout triggerTimeout, echoTimeout;
+    bool newDataReady, timerStarted;
+    
+    /** Start the timer. */
+    void startTimer();
+    
+    /** Stop the timer. */
+    void stopTimer();
+    
+    /** Initialization. */
+    void init();
+    
+    void turnOffTrigger();
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 06 08:51:15 2017 +0000
@@ -0,0 +1,196 @@
+#include "mbed.h"
+#include "HCSR04.h"
+
+struct UART_buf
+{ 
+    uint8_t STA;
+    uint8_t MODE; 
+    uint8_t CMD;
+    uint8_t LEN;
+    uint8_t DATA[32];
+    uint8_t END; 
+     
+};
+ 
+// INA, INB
+PinName pin_DC[2] = {PA_6, PA_7};
+PinName pin_ECHO = PB_7;
+PinName pin_TRIG = PB_10;
+
+PwmOut INA(pin_DC[0]);
+PwmOut INB(pin_DC[1]);
+HCSR04 Ultrasonic(pin_ECHO, pin_TRIG);
+
+Serial SerialUART(PA_2, PA_3);
+
+enum{STOP, CW, CCW};
+
+uint8_t Buffer[37];
+
+UART_buf RX_BUF;
+
+Timer Sensor_Timer;
+
+uint32_t T_period = 1000;
+uint32_t timer_check = 0;
+
+void SerialUARTRX_ISR(void);
+void DC_Ctrl(uint8_t dir, float Speed);
+void Timer_setting(uint8_t cmd, uint8_t value);
+void Sensor_Read(void);
+float Ultrasonic_cm(void);
+
+int main() {
+    
+    SerialUART.baud(115200);
+    
+    SerialUART.attach(&SerialUARTRX_ISR);
+    
+    Timer_setting(0x06, 1);
+    
+    while(1)
+    {
+        //SerialUART.printf("%d", Sensor_Timer.read_ms());
+        if((timer_check + T_period) < Sensor_Timer.read_ms())
+        {
+          //  SerialUART.printf("%d",T_period);
+            Sensor_Read();
+            timer_check += T_period;
+        }
+        //wait(0.5);
+    }
+}
+
+void SerialUARTRX_ISR(void)
+{
+    static uint8_t RX_count = 0, RX_Len = 32, RX_Status = 0;
+    uint8_t rx_da = SerialUART.getc();
+    switch(RX_Status)
+    {
+        case 0:
+            if(rx_da == 0x76)
+            {
+                RX_BUF.STA = rx_da;
+                RX_Status++;
+            }
+            break;
+        case 1:
+            RX_BUF.MODE = rx_da;
+            RX_Status++;
+            break;
+        case 2:
+            RX_BUF.CMD = rx_da;
+            RX_Status++;
+            break;
+        case 3:
+            RX_BUF.LEN = rx_da;
+            RX_Len = RX_BUF.LEN;
+            RX_Status++;
+            if(RX_Len == 0)
+                RX_Status++;
+            break;
+        case 4:
+            RX_BUF.DATA[RX_count] = rx_da;
+            RX_count++;
+            if(RX_count == RX_Len)
+            {
+                RX_Status++;
+                RX_count = 0;
+                RX_Len = 32;
+            }
+            break;
+        case 5:
+            if(rx_da == 0x3E)
+            {
+                RX_BUF.END = rx_da;
+                RX_Status = 0;
+                switch(RX_BUF.MODE)
+                {
+                    case 0x01:
+                        if(RX_BUF.CMD == 0x12)
+                        {
+                            DC_Ctrl(RX_BUF.DATA[0], 50);
+                        }
+                        break;
+                    case 0x04:
+                        Timer_setting(RX_BUF.CMD, RX_BUF.DATA[0]);
+                        break;
+                }
+            }
+            break;
+    }
+}
+
+void DC_Ctrl(uint8_t dir, float Speed)
+{
+    switch(dir)
+    {
+        case STOP:
+            INA = 0;
+            INB = 0;
+            break;
+        case CW:
+            INA = Speed/100;
+            INB = 0;
+            break;
+        case CCW:
+            INA = 0;
+            INB = Speed/100;
+            break;
+    }
+}
+
+void Timer_setting(uint8_t cmd, uint8_t value)
+{
+    double Time_value = 0;
+    Sensor_Timer.stop();
+    Sensor_Timer.reset();
+    switch(cmd)
+    {
+        case 0x01:
+            Time_value = 30;
+            break;
+        case 0x02:
+            Time_value = 60;
+            break;
+        case 0x03:
+            Time_value = 120;
+            break;
+        case 0x04:
+            Time_value = 300;
+            break;
+        case 0x05:
+            Time_value = 600;
+            break;
+        case 0x06:
+            Time_value = value;
+            Time_value = 1.0/Time_value;
+            break;
+    }
+    Sensor_Timer.start();
+    timer_check = Sensor_Timer.read_ms();
+    T_period = Time_value * 1000;
+}
+
+void Sensor_Read(void)
+{
+    uint16_t dist = Ultrasonic_cm();
+    Buffer[0] = 0x76;
+    Buffer[1] = 0x01;
+    Buffer[2] = 0x07;
+    Buffer[3] = 0x02;
+    Buffer[4] = dist >> 8;
+    Buffer[5] = dist & 0xFF;
+    Buffer[6] = 0x3E;
+    for(int i=0; i<7; i++)
+        SerialUART.putc(Buffer[i]);
+}
+
+float Ultrasonic_cm(void)
+{
+    Ultrasonic.startMeasurement();
+    
+    while(!Ultrasonic.isNewDataReady());
+    
+    return Ultrasonic.getDistance_cm();
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Wed Dec 06 08:51:15 2017 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#ca661f9d28526ca8f874b05432493a489c9671ea