han back / Mbed OS CLEO_ULTRASONIC

SMART CLEO Ultrasonic

HCSR04/HCSR04.h@0:e7c4d23dbc05, 2017-09-28 (annotated)

Committer:
SMART_CLEO
Date:
Thu Sep 28 03:44:12 2017 +0000
Revision:
0:e7c4d23dbc05
SMART_CLEO

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SMART_CLEO 0:e7c4d23dbc05 1 #ifndef HCSR04_H_TVZMT
SMART_CLEO 0:e7c4d23dbc05 2 #define HCSR04_H_TVZMT
SMART_CLEO 0:e7c4d23dbc05 3
SMART_CLEO 0:e7c4d23dbc05 4 /** A distance measurement class using ultrasonic sensor HC-SR04.
SMART_CLEO 0:e7c4d23dbc05 5 *
SMART_CLEO 0:e7c4d23dbc05 6 * Example of use:
SMART_CLEO 0:e7c4d23dbc05 7 * @code
SMART_CLEO 0:e7c4d23dbc05 8 * #include "mbed.h"
SMART_CLEO 0:e7c4d23dbc05 9 * #include "HCSR04.h"
SMART_CLEO 0:e7c4d23dbc05 10 *
SMART_CLEO 0:e7c4d23dbc05 11 * Serial pc(USBTX, USBRX);
SMART_CLEO 0:e7c4d23dbc05 12 * Timer timer;
SMART_CLEO 0:e7c4d23dbc05 13 *
SMART_CLEO 0:e7c4d23dbc05 14 * int main() {
SMART_CLEO 0:e7c4d23dbc05 15 * HCSR04 sensor(p5, p7);
SMART_CLEO 0:e7c4d23dbc05 16 * sensor.setRanges(10, 110);
SMART_CLEO 0:e7c4d23dbc05 17 * pc.printf("Min. range = %g cm\n\rMax. range = %g cm\n\r",
SMART_CLEO 0:e7c4d23dbc05 18 * sensor.getMinRange(), sensor.getMaxRange());
SMART_CLEO 0:e7c4d23dbc05 19 * while(true) {
SMART_CLEO 0:e7c4d23dbc05 20 * timer.reset();
SMART_CLEO 0:e7c4d23dbc05 21 * timer.start();
SMART_CLEO 0:e7c4d23dbc05 22 * sensor.startMeasurement();
SMART_CLEO 0:e7c4d23dbc05 23 * while(!sensor.isNewDataReady()) {
SMART_CLEO 0:e7c4d23dbc05 24 * // wait for new data
SMART_CLEO 0:e7c4d23dbc05 25 * // waiting time depends on the distance
SMART_CLEO 0:e7c4d23dbc05 26 * }
SMART_CLEO 0:e7c4d23dbc05 27 * pc.printf("Distance: %5.1f mm\r", sensor.getDistance_mm());
SMART_CLEO 0:e7c4d23dbc05 28 * timer.stop();
SMART_CLEO 0:e7c4d23dbc05 29 * wait_ms(500 - timer.read_ms()); // time the loop
SMART_CLEO 0:e7c4d23dbc05 30 * }
SMART_CLEO 0:e7c4d23dbc05 31 * }
SMART_CLEO 0:e7c4d23dbc05 32 * @endcode
SMART_CLEO 0:e7c4d23dbc05 33 */
SMART_CLEO 0:e7c4d23dbc05 34 class HCSR04 {
SMART_CLEO 0:e7c4d23dbc05 35
SMART_CLEO 0:e7c4d23dbc05 36 public:
SMART_CLEO 0:e7c4d23dbc05 37
SMART_CLEO 0:e7c4d23dbc05 38 /** Receives two PinName variables.
SMART_CLEO 0:e7c4d23dbc05 39 * @param echoPin mbed pin to which the echo signal is connected to
SMART_CLEO 0:e7c4d23dbc05 40 * @param triggerPin mbed pin to which the trigger signal is connected to
SMART_CLEO 0:e7c4d23dbc05 41 */
SMART_CLEO 0:e7c4d23dbc05 42 HCSR04(PinName echoPin, PinName triggerPin);
SMART_CLEO 0:e7c4d23dbc05 43
SMART_CLEO 0:e7c4d23dbc05 44 /** Start the measurement. Measurement time depends on the distance.
SMART_CLEO 0:e7c4d23dbc05 45 * Maximum measurement time is limited to 25 ms (400 cm).
SMART_CLEO 0:e7c4d23dbc05 46 */
SMART_CLEO 0:e7c4d23dbc05 47 void startMeasurement();
SMART_CLEO 0:e7c4d23dbc05 48
SMART_CLEO 0:e7c4d23dbc05 49 /** Returns the distance in cm. Requires previous call of startMeasurement().
SMART_CLEO 0:e7c4d23dbc05 50 * @returns distance of the measuring object in cm.
SMART_CLEO 0:e7c4d23dbc05 51 */
SMART_CLEO 0:e7c4d23dbc05 52 float getDistance_cm();
SMART_CLEO 0:e7c4d23dbc05 53
SMART_CLEO 0:e7c4d23dbc05 54 /** Returns the distance in mm. Requires previous call of startMeasurement().
SMART_CLEO 0:e7c4d23dbc05 55 * @returns distance of the measuring object in mm.
SMART_CLEO 0:e7c4d23dbc05 56 */
SMART_CLEO 0:e7c4d23dbc05 57 float getDistance_mm();
SMART_CLEO 0:e7c4d23dbc05 58
SMART_CLEO 0:e7c4d23dbc05 59 /** Sets the minimum and maximum ranges between the factory values of 2 cm and 400 cm.
SMART_CLEO 0:e7c4d23dbc05 60 * @param minRange Minimum range in cm. Must be between 2 cm and maxRange.
SMART_CLEO 0:e7c4d23dbc05 61 * @param maxRange Maximum range in cm. Must be between minRange and 400 cm.
SMART_CLEO 0:e7c4d23dbc05 62 */
SMART_CLEO 0:e7c4d23dbc05 63 void setRanges(float minRange, float maxRange);
SMART_CLEO 0:e7c4d23dbc05 64
SMART_CLEO 0:e7c4d23dbc05 65 /** Retreives the minimum sensor range set by the user.
SMART_CLEO 0:e7c4d23dbc05 66 * @returns the minimum sensor range set by the user in cm.
SMART_CLEO 0:e7c4d23dbc05 67 */
SMART_CLEO 0:e7c4d23dbc05 68 float getMinRange();
SMART_CLEO 0:e7c4d23dbc05 69
SMART_CLEO 0:e7c4d23dbc05 70 /** Retreives the maximum sensor range set by the user.
SMART_CLEO 0:e7c4d23dbc05 71 * @returns the maximum sensor range set by the user in cm.
SMART_CLEO 0:e7c4d23dbc05 72 */
SMART_CLEO 0:e7c4d23dbc05 73 float getMaxRange();
SMART_CLEO 0:e7c4d23dbc05 74
SMART_CLEO 0:e7c4d23dbc05 75 /** Checks if the new data is ready.
SMART_CLEO 0:e7c4d23dbc05 76 * @returns true if new data is ready, false otherwise.
SMART_CLEO 0:e7c4d23dbc05 77 */
SMART_CLEO 0:e7c4d23dbc05 78 bool isNewDataReady();
SMART_CLEO 0:e7c4d23dbc05 79
SMART_CLEO 0:e7c4d23dbc05 80 private:
SMART_CLEO 0:e7c4d23dbc05 81
SMART_CLEO 0:e7c4d23dbc05 82 InterruptIn echo; // echo pin
SMART_CLEO 0:e7c4d23dbc05 83 DigitalOut trigger; // trigger pin
SMART_CLEO 0:e7c4d23dbc05 84 Timer timer; // echo pulsewidth measurement
SMART_CLEO 0:e7c4d23dbc05 85 float distance; // store the distance in cm
SMART_CLEO 0:e7c4d23dbc05 86 float minDistance; // minimum measurable distance
SMART_CLEO 0:e7c4d23dbc05 87 float maxDistance; // maximum measurable distance
SMART_CLEO 0:e7c4d23dbc05 88 Timeout triggerTimeout, echoTimeout;
SMART_CLEO 0:e7c4d23dbc05 89 bool newDataReady, timerStarted;
SMART_CLEO 0:e7c4d23dbc05 90
SMART_CLEO 0:e7c4d23dbc05 91 /** Start the timer. */
SMART_CLEO 0:e7c4d23dbc05 92 void startTimer();
SMART_CLEO 0:e7c4d23dbc05 93
SMART_CLEO 0:e7c4d23dbc05 94 /** Stop the timer. */
SMART_CLEO 0:e7c4d23dbc05 95 void stopTimer();
SMART_CLEO 0:e7c4d23dbc05 96
SMART_CLEO 0:e7c4d23dbc05 97 /** Initialization. */
SMART_CLEO 0:e7c4d23dbc05 98 void init();
SMART_CLEO 0:e7c4d23dbc05 99
SMART_CLEO 0:e7c4d23dbc05 100 void turnOffTrigger();
SMART_CLEO 0:e7c4d23dbc05 101 };
SMART_CLEO 0:e7c4d23dbc05 102
SMART_CLEO 0:e7c4d23dbc05 103 #endif