Andrew Lindsay / MaxbotixDriver

Maxbotix ultrasonic distance sensor library

Fork of MaxbotixDriver by Daniel Casner

sonar.h@4:95f696f59d94, 2020-01-30 (annotated)

Committer:
SomeRandomBloke
Date:
Thu Jan 30 11:52:10 2020 +0000
Revision:
4:95f696f59d94
Parent:
2:911740f19198 
Added range averaging

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DanielC 0:7e65f5077f5a 1 #include "mbed.h"
DanielC 0:7e65f5077f5a 2 /*** @file Driver for Maxbotix sonar modules
DanielC 0:7e65f5077f5a 3 * Uses pulse width input to read range results.
DanielC 0:7e65f5077f5a 4 * @author Daniel Casner <http://www.danielcasner.org>
DanielC 0:7e65f5077f5a 5 *
DanielC 0:7e65f5077f5a 6 * Known Issues:
DanielC 0:7e65f5077f5a 7 * If a timer rollover occures during a sample, the driver will drop that sample.
DanielC 0:7e65f5077f5a 8 */
DanielC 0:7e65f5077f5a 9
DanielC 0:7e65f5077f5a 10 /** Object representation of a sonar instance
DanielC 0:7e65f5077f5a 11 */
DanielC 0:7e65f5077f5a 12 class Sonar {
DanielC 0:7e65f5077f5a 13 public:
DanielC 0:7e65f5077f5a 14 /** Sets up the driver and starts taking measurements
DanielC 0:7e65f5077f5a 15 * @param input The pin to read pulses from
DanielC 0:7e65f5077f5a 16 * @param t A running timer instance used to measure pulse width.
DanielC 0:7e65f5077f5a 17 * Note that the timer must have been started or results will be
DanielC 0:7e65f5077f5a 18 * invalid.
DanielC 0:7e65f5077f5a 19 */
DanielC 0:7e65f5077f5a 20 Sonar(PinName input, Timer& t);
DanielC 0:7e65f5077f5a 21
DanielC 0:7e65f5077f5a 22 /// Returns range in cm as int
SomeRandomBloke 1:330989f98a6e 23 int readCm();
SomeRandomBloke 1:330989f98a6e 24
SomeRandomBloke 2:911740f19198 25 /// Returns range in uS as int
DanielC 0:7e65f5077f5a 26 int read();
DanielC 0:7e65f5077f5a 27
DanielC 0:7e65f5077f5a 28 /// Returns the range in CM as an int
DanielC 0:7e65f5077f5a 29 operator int();
SomeRandomBloke 4:95f696f59d94 30
SomeRandomBloke 4:95f696f59d94 31 bool getRange( int *outRawDistance, int *outDistance, float temperature );
SomeRandomBloke 4:95f696f59d94 32
DanielC 0:7e65f5077f5a 33 private:
DanielC 0:7e65f5077f5a 34 /// Inturrupt at start of pulse
DanielC 0:7e65f5077f5a 35 void pulseStart();
DanielC 0:7e65f5077f5a 36 /// Interrupt at end of pulse
DanielC 0:7e65f5077f5a 37 void pulseStop();
DanielC 0:7e65f5077f5a 38
DanielC 0:7e65f5077f5a 39 /// Interrupt driver for the input pin
DanielC 0:7e65f5077f5a 40 InterruptIn interrupt;
DanielC 0:7e65f5077f5a 41 /// Reference to global timer instance
DanielC 0:7e65f5077f5a 42 Timer& time;
DanielC 0:7e65f5077f5a 43 /// Time of the start of the current pulse
DanielC 0:7e65f5077f5a 44 int pulseStartTime;
DanielC 0:7e65f5077f5a 45 /// The most recent sample
DanielC 0:7e65f5077f5a 46 int range;
DanielC 0:7e65f5077f5a 47 };