File content as of revision 1:53657de3246f:

#include "hcsr04.h"
#include "mbed.h"
#include "rtos.h"
/*
*HCSR04.cpp
*/
HCSR04::HCSR04(PinName t, PinName e) : trig(t), echo(e) {
    thread = new Thread(threadWorker, this);
}

void HCSR04::threadWorker(void const *p)
{
    HCSR04* self = (HCSR04*)p;
    
    while(1){
        
        self->trig=0;   // trigger low 
        wait_us(2); //  wait 
        self->trig=1;   //  trigger high
        wait_us(10);
        self->trig=0;  // trigger low
        while(!self->echo); // start pulseIN
        self->timer.reset();  //reset timer
        self->timer.start();
        while(self->echo);
        self->timer.stop();
        self->distan = self->timer.read_us() / 58;
        
        Thread::wait(50);
    }
}

uint16_t HCSR04::getDistan(){
    return distan;    
}
 
//return distance in cm 
uint16_t HCSR04::getDistance(){
    distance_cm = distan/58;
    return distance_cm;

}