Andrew Lindsay / MaxbotixDriver

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of MaxbotixDriver by Daniel Casner

sonar.cpp@1:330989f98a6e, 2015-12-27 (annotated)

Committer:
SomeRandomBloke
Date:
Sun Dec 27 19:47:07 2015 +0000
Revision:
1:330989f98a6e
Parent:
0:7e65f5077f5a
Child:
3:c231deea4d36
updates to return raw pulse

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DanielC 0:7e65f5077f5a 1 #include "sonar.h"
DanielC 0:7e65f5077f5a 2
DanielC 0:7e65f5077f5a 3 Sonar::Sonar(PinName input, Timer& t) :
DanielC 0:7e65f5077f5a 4 interrupt(input),
DanielC 0:7e65f5077f5a 5 time(t),
DanielC 0:7e65f5077f5a 6 pulseStartTime(0),
DanielC 0:7e65f5077f5a 7 range(0) {
DanielC 0:7e65f5077f5a 8 interrupt.rise(this, &Sonar::pulseStart);
DanielC 0:7e65f5077f5a 9 interrupt.fall(this, &Sonar::pulseStop);
DanielC 0:7e65f5077f5a 10 }
DanielC 0:7e65f5077f5a 11
DanielC 0:7e65f5077f5a 12 int Sonar::read() {
DanielC 0:7e65f5077f5a 13 return range;
DanielC 0:7e65f5077f5a 14 }
DanielC 0:7e65f5077f5a 15
SomeRandomBloke 1:330989f98a6e 16 int Sonar::readCm() {
SomeRandomBloke 1:330989f98a6e 17 return range / 58; // 58uS per CM
SomeRandomBloke 1:330989f98a6e 18 }
SomeRandomBloke 1:330989f98a6e 19
DanielC 0:7e65f5077f5a 20 Sonar::operator int() {
DanielC 0:7e65f5077f5a 21 return read();
DanielC 0:7e65f5077f5a 22 }
DanielC 0:7e65f5077f5a 23
DanielC 0:7e65f5077f5a 24 void Sonar::pulseStart() {
DanielC 0:7e65f5077f5a 25 pulseStartTime = time.read_us();
DanielC 0:7e65f5077f5a 26 }
DanielC 0:7e65f5077f5a 27
DanielC 0:7e65f5077f5a 28 void Sonar::pulseStop() {
DanielC 0:7e65f5077f5a 29 int endTime = time.read_us();
DanielC 0:7e65f5077f5a 30 if (endTime < pulseStartTime) return; // Escape if there's been a roll over
SomeRandomBloke 1:330989f98a6e 31 range = (endTime - pulseStartTime); // / 58; // 58uS per CM
DanielC 0:7e65f5077f5a 32 }