Diff: main.cpp

Branch:

CLASS_IMPLEMENTATION

Revision:

5:1a69f40177b0

Parent:

4:bb5819be6ac3

Child:

7:cdde5cc8b2b3

--- a/main.cpp	Sun Dec 20 22:29:18 2015 +0000
+++ b/main.cpp	Mon Dec 21 20:54:09 2015 +0000
@@ -4,223 +4,74 @@
 #include "mbed.h"
 
 #include "TextLCD.h"
-
-#define TIMEOUT_DELAY_US    (25000)
-#define CALC_COEFF          (340.0f/(2.0f*1000.0f))
-#define TICKS_RANGE_MAX     (15000)
-#define TICKS_RANGE_MIN     (150)
-#define TRIG_PULSE_US       (50)
-
-
-typedef enum { IDLE, STARTED, COMPLETED, TIMEOUT, OUT_OF_RANGE_MIN, OUT_OF_RANGE_MAX, ERROR_SIG } Distance_HC_SR04_state;
-
-
-TextLCD lcd(PA_8, PA_7, PA_9, PA_1, PB_5, PA_10, TextLCD::LCD16x2);
-
-class Distance_HC_SR04 {
-public:
-    Distance_HC_SR04(PinName trig, PinName echo, uint32_t tout_us = TIMEOUT_DELAY_US, float coeff = CALC_COEFF, uint32_t tmin_us = TICKS_RANGE_MIN, uint32_t tmax_us = TICKS_RANGE_MAX) : _trig(trig), _echo(echo), _tout_us(tout_us), _coeff(coeff), _tmin_us(tmin_us), _tmax_us(tmax_us) {
-        _trig = 0;
-        _state = IDLE;
-    }
-
-    void trigger(void) {
-        if (_state == IDLE && _echo == 0) {
-            _timeout.detach();
-            _echo.rise(NULL);
-            _echo.fall(NULL);
-            _timer.stop();
-            _timer.reset();   
-
-            _trig = 1;
-            wait_us(TRIG_PULSE_US);
-            _trig = 0;
-
-            if (_echo == 0) {
-                _state = STARTED;
-                _timeout.attach_us(this, &Distance_HC_SR04::_tout, TIMEOUT_DELAY_US);
-
-                _echo.rise(this, &Distance_HC_SR04::_rising);
-                _echo.fall(this, &Distance_HC_SR04::_falling);
-
-                return;
-            }
-        }
-
-        if (_state == IDLE) {
-            _state = ERROR_SIG;
-            _ticks_us = 0;
-        }
-        
-        return;
-    }
-
-    Distance_HC_SR04_state getState(void) {
-        return _state;   
-    }
-    
-    void reset(void) {
-        _state = IDLE;
-        _echo.rise(NULL);
-        _echo.fall(NULL);
-        _timeout.detach();
-        _timer.stop();
-        _timer.reset();   
-    }
-    
-    uint32_t getTicks(void) {
-        return _ticks_us;
-    }
-    
-    float getDistance(void) {
-        return _ticks_us*_coeff;
-    }
-    
-    float getCoeff(void) {
-        return _coeff;
-    }
-    
-    void setCoeff(float coeff) {
-        _coeff = coeff;
-    }
-    
-    float measureDistance(void) {
-        return measureTicks()*_coeff;   
-    }
-    
-    uint32_t measureTicks(void) {
-        reset();
-        trigger();
-
-        while (_state == STARTED)
-            ;
-            
-        _echo.rise(NULL);
-        _echo.fall(NULL);
-        _timeout.detach();
-
-        switch (_state) {
-            case COMPLETED:
-                break;
-            default:
-                _ticks_us = 0;
-                break;
-        }
-                 
-        return _ticks_us;   
-    }
-
-
-
-    void _tout(void) {
-        if (_state == STARTED) 
-            _state = TIMEOUT;
-    }
-
-    void _rising(void) {
-        if (_state == STARTED) {
-            _timer.start();
-        }
-    }
-
-    void _falling(void) {
-        if (_state == STARTED) {
-            _timer.stop();
-            _ticks_us = _timer.read_us();
-
-            if (_ticks_us < _tmin_us) {
-                _ticks_us = 0;
-                _state = OUT_OF_RANGE_MIN;
-            } else if (_ticks_us > _tmax_us) {
-                _ticks_us = 0;
-                _state = OUT_OF_RANGE_MAX;
-            } else {
-                _state = COMPLETED;
-            }
-        }
-    }
- 
-private:
-    DigitalOut  _trig;
-    InterruptIn _echo;
-    uint32_t    _tout_us;
-    uint32_t    _tmin_us;
-    uint32_t    _tmax_us;
-    float       _coeff;
-    
-    Timer       _timer;
-    Timeout     _timeout;
-    
-    volatile Distance_HC_SR04_state _state;
-    uint32_t                        _ticks_us;
-};
- 
+#include "Distance_HC_SR04.h"
 
 
 int main() {
 
+    TextLCD lcd(PA_8, PA_7, PA_9, PA_1, PB_5, PA_10, TextLCD::LCD16x2);
+    
     wait_ms(250);
     lcd.cls();
 
     lcd.cls();
     lcd.printf("Row 1");
-    lcd.locate(0, 1);    
+    lcd.locate(0, 1);
     lcd.printf("Row 2");
 
     Distance_HC_SR04 distFront(PB_9, PA_6);
     uint32_t ticks_us;
-    float distance;        
+    float distance;
 
     while (true) {
         ticks_us = distFront.measureTicks();
         distance = distFront.getDistance();
-        
+
         lcd.cls();
 
         switch (distFront.getState()) {
             case COMPLETED:
                 lcd.printf("Dist.: %u", ticks_us);
-                lcd.locate(0, 1);    
+                lcd.locate(0, 1);
                 lcd.printf("Dist.: %.3f", distance);
-                
+
                 break;
-                
+
             case TIMEOUT:
                 lcd.printf("Dist.: ---");
-                lcd.locate(0, 1);    
+                lcd.locate(0, 1);
                 lcd.printf("TIMEOUT");
-                
+
                 break;
-                
+
             case ERROR_SIG:
                 lcd.printf("Dist.: ---");
-                lcd.locate(0, 1);    
+                lcd.locate(0, 1);
                 lcd.printf("ERROR_SIG");
-                
+
                 break;
-                
+
             case OUT_OF_RANGE_MIN:
                 lcd.printf("Dist.: ---");
-                lcd.locate(0, 1);    
+                lcd.locate(0, 1);
                 lcd.printf("OUT_OF_RANGE_MIN");
-                
+
                 break;
-                
+
             case OUT_OF_RANGE_MAX:
                 lcd.printf("Dist.: ---");
-                lcd.locate(0, 1);    
+                lcd.locate(0, 1);
                 lcd.printf("OUT_OF_RANGE_MAX");
-                    
+
                 break;
-                
+
             default:
                 lcd.printf("Dist.: ---");
-                lcd.locate(0, 1);    
+                lcd.locate(0, 1);
                 lcd.printf("OTHER");
-                    
+
                 break;
         }
-
         wait_ms(100);
     }
 }