Honza T. / Mbed 2 deprecated TEST_Dist_lib

Development and testing of ultrasonic distance measurement library for device HC-SR04.

Dependencies:   TextLCD_improved mbed Distance_HC_SR04

Distance_HC_SR04.h@5:1a69f40177b0, 2015-12-21 (annotated)

Committer:
dzoni
Date:
Mon Dec 21 20:54:09 2015 +0000
Branch:
CLASS_IMPLEMENTATION
Revision:
5:1a69f40177b0
Class implementation completed and successfully tested.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dzoni 5:1a69f40177b0 1 #ifndef MBED_DISTANCE_HC_SR04_H
dzoni 5:1a69f40177b0 2 #define MBED_DISTANCE_HC_SR04_H
dzoni 5:1a69f40177b0 3
dzoni 5:1a69f40177b0 4 #include "mbed.h"
dzoni 5:1a69f40177b0 5
dzoni 5:1a69f40177b0 6 #define TIMEOUT_DELAY_US (25000)
dzoni 5:1a69f40177b0 7 #define CALC_COEFF (340.0f/(2.0f*1000.0f))
dzoni 5:1a69f40177b0 8 #define TICKS_RANGE_MAX (15000)
dzoni 5:1a69f40177b0 9 #define TICKS_RANGE_MIN (150)
dzoni 5:1a69f40177b0 10 #define TRIG_PULSE_US (50)
dzoni 5:1a69f40177b0 11
dzoni 5:1a69f40177b0 12 typedef enum { IDLE, STARTED, COMPLETED, TIMEOUT, OUT_OF_RANGE_MIN, OUT_OF_RANGE_MAX, ERROR_SIG } Distance_HC_SR04_state;
dzoni 5:1a69f40177b0 13
dzoni 5:1a69f40177b0 14 /** Distance_HC_SR04 class.
dzoni 5:1a69f40177b0 15 *
dzoni 5:1a69f40177b0 16 * Library for interfacing ultrasonic distance measurement device HC-SR04.
dzoni 5:1a69f40177b0 17 * Functionality includes detection of error in echo signal, detection of timeout and limits of reliable measurement.
dzoni 5:1a69f40177b0 18 *
dzoni 5:1a69f40177b0 19 */
dzoni 5:1a69f40177b0 20 class Distance_HC_SR04 {
dzoni 5:1a69f40177b0 21
dzoni 5:1a69f40177b0 22 public:
dzoni 5:1a69f40177b0 23 Distance_HC_SR04(PinName trig, PinName echo, uint32_t tout_us = TIMEOUT_DELAY_US, float coeff = CALC_COEFF,
dzoni 5:1a69f40177b0 24 uint32_t tmin_us = TICKS_RANGE_MIN, uint32_t tmax_us = TICKS_RANGE_MAX);
dzoni 5:1a69f40177b0 25 void trigger(void);
dzoni 5:1a69f40177b0 26 Distance_HC_SR04_state getState(void);
dzoni 5:1a69f40177b0 27 void reset(void);
dzoni 5:1a69f40177b0 28 uint32_t getTicks(void);
dzoni 5:1a69f40177b0 29 float getDistance(void);
dzoni 5:1a69f40177b0 30 float getCoeff(void);
dzoni 5:1a69f40177b0 31 void setCoeff(float coeff);
dzoni 5:1a69f40177b0 32 float measureDistance(void);
dzoni 5:1a69f40177b0 33 uint32_t measureTicks(void);
dzoni 5:1a69f40177b0 34
dzoni 5:1a69f40177b0 35 void _tout(void);
dzoni 5:1a69f40177b0 36 void _rising(void);
dzoni 5:1a69f40177b0 37 void _falling(void);
dzoni 5:1a69f40177b0 38
dzoni 5:1a69f40177b0 39 private:
dzoni 5:1a69f40177b0 40 DigitalOut _trig;
dzoni 5:1a69f40177b0 41 InterruptIn _echo;
dzoni 5:1a69f40177b0 42 uint32_t _tout_us;
dzoni 5:1a69f40177b0 43 float _coeff;
dzoni 5:1a69f40177b0 44 uint32_t _tmin_us;
dzoni 5:1a69f40177b0 45 uint32_t _tmax_us;
dzoni 5:1a69f40177b0 46
dzoni 5:1a69f40177b0 47 Timer _timer;
dzoni 5:1a69f40177b0 48 Timeout _timeout;
dzoni 5:1a69f40177b0 49
dzoni 5:1a69f40177b0 50 volatile Distance_HC_SR04_state _state;
dzoni 5:1a69f40177b0 51 uint32_t _ticks_us;
dzoni 5:1a69f40177b0 52 };
dzoni 5:1a69f40177b0 53
dzoni 5:1a69f40177b0 54 #endif