Alexandre Kabla / HC_SR04_Ultrasonic_Library

Updated version of the library to deal with the constructor without onUpdate callback function.

Fork of HC_SR04_Ultrasonic_Library by EJ Teb

ultrasonic.cpp@5:abbb418bf10f, 2018-04-02 (annotated)

Committer:
akabla
Date:
Mon Apr 02 15:16:16 2018 +0000
Revision:
5:abbb418bf10f
Parent:
4:e0f9c9fb4cf3 
Changes to allow the library to run without the updateMethod callback function specified in the constructor.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ejteb 0:6aa04a8c8d4c 1 #include "ultrasonic.h"
ejteb 0:6aa04a8c8d4c 2
ejteb 0:6aa04a8c8d4c 3 ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout):_trig(trigPin), _echo(echoPin)
ejteb 0:6aa04a8c8d4c 4 {
akabla 5:abbb418bf10f 5 _onUpdateMethod=NULL;
ejteb 0:6aa04a8c8d4c 6 _updateSpeed = updateSpeed;
ejteb 0:6aa04a8c8d4c 7 _timeout = timeout;
akabla 5:abbb418bf10f 8 _t.start ();
ejteb 0:6aa04a8c8d4c 9 }
ejteb 0:6aa04a8c8d4c 10
ejteb 2:cc1143d36567 11 ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int))
ejteb 0:6aa04a8c8d4c 12 :_trig(trigPin), _echo(echoPin)
ejteb 0:6aa04a8c8d4c 13 {
ejteb 0:6aa04a8c8d4c 14 _onUpdateMethod=onUpdate;
ejteb 0:6aa04a8c8d4c 15 _updateSpeed = updateSpeed;
ejteb 0:6aa04a8c8d4c 16 _timeout = timeout;
ejteb 0:6aa04a8c8d4c 17 _t.start ();
ejteb 0:6aa04a8c8d4c 18 }
ejteb 2:cc1143d36567 19 void ultrasonic::_startT()
ejteb 2:cc1143d36567 20 {
ejteb 2:cc1143d36567 21 if(_t.read()>600)
ejteb 2:cc1143d36567 22 {
ejteb 2:cc1143d36567 23 _t.reset ();
ejteb 2:cc1143d36567 24 }
ejteb 0:6aa04a8c8d4c 25 start = _t.read_us ();
ejteb 0:6aa04a8c8d4c 26 }
ejteb 0:6aa04a8c8d4c 27
ejteb 0:6aa04a8c8d4c 28 void ultrasonic::_updateDist()
ejteb 0:6aa04a8c8d4c 29 {
ejteb 0:6aa04a8c8d4c 30 end = _t.read_us ();
ejteb 0:6aa04a8c8d4c 31 done = 1;
ejteb 0:6aa04a8c8d4c 32 _distance = (end - start)/6;
ejteb 0:6aa04a8c8d4c 33 _tout.detach();
ejteb 2:cc1143d36567 34 _tout.attach(this,&ultrasonic::_startTrig, _updateSpeed);
ejteb 0:6aa04a8c8d4c 35 }
ejteb 0:6aa04a8c8d4c 36 void ultrasonic::_startTrig(void)
ejteb 0:6aa04a8c8d4c 37 {
ejteb 0:6aa04a8c8d4c 38 _tout.detach();
ejteb 0:6aa04a8c8d4c 39 _trig=1;
ejteb 0:6aa04a8c8d4c 40 wait_us(10);
ejteb 0:6aa04a8c8d4c 41 done = 0;
ejteb 0:6aa04a8c8d4c 42 _echo.rise(this,&ultrasonic::_startT);
ejteb 0:6aa04a8c8d4c 43 _echo.fall(this,&ultrasonic::_updateDist);
ejteb 0:6aa04a8c8d4c 44 _echo.enable_irq ();
ejteb 0:6aa04a8c8d4c 45 _tout.attach(this,&ultrasonic::_startTrig,_timeout);
ejteb 2:cc1143d36567 46 _trig=0;
ejteb 0:6aa04a8c8d4c 47 }
ejteb 0:6aa04a8c8d4c 48
ejteb 0:6aa04a8c8d4c 49 int ultrasonic::getCurrentDistance(void)
ejteb 0:6aa04a8c8d4c 50 {
ejteb 0:6aa04a8c8d4c 51 return _distance;
ejteb 0:6aa04a8c8d4c 52 }
ejteb 0:6aa04a8c8d4c 53 void ultrasonic::pauseUpdates(void)
ejteb 0:6aa04a8c8d4c 54 {
ejteb 0:6aa04a8c8d4c 55 _tout.detach();
ejteb 0:6aa04a8c8d4c 56 _echo.rise(NULL);
ejteb 0:6aa04a8c8d4c 57 _echo.fall(NULL);
ejteb 0:6aa04a8c8d4c 58 }
ejteb 0:6aa04a8c8d4c 59 void ultrasonic::startUpdates(void)
ejteb 0:6aa04a8c8d4c 60 {
ejteb 0:6aa04a8c8d4c 61 _startTrig();
ejteb 0:6aa04a8c8d4c 62 }
ejteb 0:6aa04a8c8d4c 63 void ultrasonic::attachOnUpdate(void method(int))
ejteb 0:6aa04a8c8d4c 64 {
ejteb 0:6aa04a8c8d4c 65 _onUpdateMethod = method;
ejteb 0:6aa04a8c8d4c 66 }
ejteb 0:6aa04a8c8d4c 67 void ultrasonic::changeUpdateSpeed(float updateSpeed)
ejteb 0:6aa04a8c8d4c 68 {
ejteb 0:6aa04a8c8d4c 69 _updateSpeed = updateSpeed;
ejteb 0:6aa04a8c8d4c 70 }
ejteb 0:6aa04a8c8d4c 71 float ultrasonic::getUpdateSpeed()
ejteb 0:6aa04a8c8d4c 72 {
ejteb 0:6aa04a8c8d4c 73 return _updateSpeed;
ejteb 0:6aa04a8c8d4c 74 }
ejteb 0:6aa04a8c8d4c 75 int ultrasonic::isUpdated(void)
ejteb 0:6aa04a8c8d4c 76 {
ejteb 4:e0f9c9fb4cf3 77 //printf("%d", done);
ejteb 0:6aa04a8c8d4c 78 d=done;
ejteb 0:6aa04a8c8d4c 79 done = 0;
ejteb 0:6aa04a8c8d4c 80 return d;
ejteb 0:6aa04a8c8d4c 81 }
ejteb 2:cc1143d36567 82 void ultrasonic::checkDistance(void)
ejteb 2:cc1143d36567 83 {
ejteb 2:cc1143d36567 84 if(isUpdated())
ejteb 2:cc1143d36567 85 {
akabla 5:abbb418bf10f 86 if (_onUpdateMethod) (*_onUpdateMethod)(_distance);
ejteb 2:cc1143d36567 87 }
ejteb 2:cc1143d36567 88 }