Diff: Distance_HC_SR04.cpp

Branch:

CLASS_IMPLEMENTATION

Revision:

7:cdde5cc8b2b3

Parent:

6:1cec3aef9d86

--- a/Distance_HC_SR04.cpp	Mon Dec 21 20:56:52 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,181 +0,0 @@
-#include "Distance_HC_SR04.h"
-
-
-    /** Create Distance_HC_SR04 instance
-     */
-    Distance_HC_SR04::Distance_HC_SR04(PinName trig, PinName echo, uint32_t tout_us, float coeff,
-            uint32_t tmin_us, uint32_t tmax_us) :
-            _trig(trig), _echo(echo), _tout_us(tout_us), _coeff(coeff), _tmin_us(tmin_us), _tmax_us(tmax_us) {
-        _trig = 0;
-        _state = IDLE;
-    }
-
-    /** Start the measurement.
-     *
-     */
-    void Distance_HC_SR04::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;
-    }
-
-    /** Returns a state measurement FSM is currently in.
-     *
-     */
-    Distance_HC_SR04_state Distance_HC_SR04::getState(void) {
-        return _state;
-    }
-
-    /** Resets whole device and prepares for triggering next measurement. FSM set to IDLE state.
-     *
-     */
-    void Distance_HC_SR04::reset(void) {
-        _state = IDLE;
-        _echo.rise(NULL);
-        _echo.fall(NULL);
-        _timeout.detach();
-        _timer.stop();
-        _timer.reset();
-    }
-
-    /** Returnes duration of "echo" pulse (microseconds) in case thate state is "COMPLETED".
-     *
-     */
-    uint32_t Distance_HC_SR04::getTicks(void) {
-        return _ticks_us;
-    }
-
-    /** Returns a distance of the obstacle in milimeters calculated from duration of "echo" pulse.
-     *
-     */
-    float Distance_HC_SR04::getDistance(void) {
-        return _ticks_us*_coeff;
-    }
-
-    /** Return actual value of coefficient used to calculate distance from "echo" pulse duration.
-     *
-     */
-    float Distance_HC_SR04::getCoeff(void) {
-        return _coeff;
-    }
-
-    /** Set the actual value of coefficient used to calculate distance from "echo" pulse duration.
-      *
-      * @param coeff Coeficient for multiplication with pulse duration in microseconds
-      * @returns
-      *   void
-      */    
-    void Distance_HC_SR04::setCoeff(float coeff) {
-        _coeff = coeff;
-    }
-
-    /** Measure and return the distance.
-      *
-      * @param void -
-      * @returns
-      *   float value of distance > 0.0f in case of a success,
-      *   0.0f in case of an error
-      */    
-    float Distance_HC_SR04::measureDistance(void) {
-        return measureTicks()*_coeff;
-    }
-
-    /** Measure and return "echo" pulse duration.
-      *
-      * @param void -
-      * @returns
-      *   uint32_t value of distance > 0 in case of a success,
-      *   0 in case of an error
-      */    
-    uint32_t Distance_HC_SR04::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;
-    }
-
-    /** Timeout callback function.
-      *
-      * @param void -
-      * @returns
-      *   void -
-      */    
-    void Distance_HC_SR04::_tout(void) {
-        if (_state == STARTED)
-            _state = TIMEOUT;
-    }
-
-    /** Rising edge callback function.
-      *
-      * @param void -
-      * @returns
-      *   void -
-      */    
-    void Distance_HC_SR04::_rising(void) {
-        if (_state == STARTED) {
-            _timer.start();
-        }
-    }
-
-    /** Falling edge callback function.
-      *
-      * @param void -
-      * @returns
-      *   void -
-      */    
-    void Distance_HC_SR04::_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;
-            }
-        }
-    }