1 sensor using RTOS Timer, another 2 over RTOS Semaphore
Dependents: Autonomous_quadcopter
Fork of HCSR04 by
hcsr04.h@13:e9b99635aa2d, 2018-05-22 (annotated)
- Committer:
- edy05
- Date:
- Tue May 22 19:35:58 2018 +0000
- Revision:
- 13:e9b99635aa2d
- Parent:
- 12:6f6469b2f016
Final updates
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
antoniolinux | 0:86b2086be101 | 1 | /* File: HCSR04.h |
antoniolinux | 0:86b2086be101 | 2 | * Author: Antonio Buonanno |
antoniolinux | 0:86b2086be101 | 3 | *Board: STM NUCLEO F401RE, |
antoniolinux | 0:86b2086be101 | 4 | *Hardware: Ultrasonic Range HC-SR04, |
antoniolinux | 0:86b2086be101 | 5 | * |
antoniolinux | 0:86b2086be101 | 6 | *This work derived from Arduino library, |
antoniolinux | 0:86b2086be101 | 7 | * |
antoniolinux | 0:86b2086be101 | 8 | * Desc: driver for HCSR04 Ultrasonic Range Finder. The returned range |
antoniolinux | 0:86b2086be101 | 9 | * is in units of meters. |
antoniolinux | 0:86b2086be101 | 10 | * |
antoniolinux | 0:86b2086be101 | 11 | * |
antoniolinux | 0:86b2086be101 | 12 | * |
antoniolinux | 0:86b2086be101 | 13 | */ |
antoniolinux | 0:86b2086be101 | 14 | |
antoniolinux | 0:86b2086be101 | 15 | /* EXAMPLE |
antoniolinux | 0:86b2086be101 | 16 | #include "mbed.h" |
antoniolinux | 0:86b2086be101 | 17 | #include "hcsr04.h" |
antoniolinux | 0:86b2086be101 | 18 | |
antoniolinux | 0:86b2086be101 | 19 | //D12 TRIGGER D11 ECHO |
antoniolinux | 0:86b2086be101 | 20 | HCSR04 sensor(D12, D11); |
antoniolinux | 0:86b2086be101 | 21 | int main() { |
antoniolinux | 0:86b2086be101 | 22 | while(1) { |
antoniolinux | 0:86b2086be101 | 23 | |
antoniolinux | 0:86b2086be101 | 24 | long distance = sensor.distance(); |
antoniolinux | 0:86b2086be101 | 25 | printf("distanza %d \n",distance); |
antoniolinux | 0:86b2086be101 | 26 | wait(1.0); // 1 sec |
antoniolinux | 0:86b2086be101 | 27 | |
antoniolinux | 0:86b2086be101 | 28 | } |
antoniolinux | 0:86b2086be101 | 29 | } |
antoniolinux | 0:86b2086be101 | 30 | */ |
antoniolinux | 0:86b2086be101 | 31 | #ifndef hcsr04_H |
antoniolinux | 0:86b2086be101 | 32 | #define hcsr04_H |
antoniolinux | 0:86b2086be101 | 33 | #include "mbed.h" |
edy05 | 1:53657de3246f | 34 | #include "rtos.h" |
antoniolinux | 0:86b2086be101 | 35 | |
antoniolinux | 0:86b2086be101 | 36 | |
antoniolinux | 0:86b2086be101 | 37 | |
antoniolinux | 0:86b2086be101 | 38 | class HCSR04 { |
antoniolinux | 0:86b2086be101 | 39 | public: |
edy05 | 12:6f6469b2f016 | 40 | HCSR04(PinName t1, PinName e1); |
edy05 | 7:dcf0aa89bcd7 | 41 | |
edy05 | 11:49a0feca5d71 | 42 | float getDistan1(); |
edy05 | 7:dcf0aa89bcd7 | 43 | uint16_t getDistan2(); |
antoniolinux | 0:86b2086be101 | 44 | |
antoniolinux | 0:86b2086be101 | 45 | private: |
edy05 | 7:dcf0aa89bcd7 | 46 | static void threadWorker1(void const *p); |
edy05 | 7:dcf0aa89bcd7 | 47 | static void threadWorker2(void const *p); |
edy05 | 1:53657de3246f | 48 | |
edy05 | 7:dcf0aa89bcd7 | 49 | DigitalOut trig1; |
edy05 | 7:dcf0aa89bcd7 | 50 | DigitalIn echo1; |
edy05 | 7:dcf0aa89bcd7 | 51 | |
edy05 | 7:dcf0aa89bcd7 | 52 | // sonic thread can't run longer than thread frequency |
edy05 | 7:dcf0aa89bcd7 | 53 | uint32_t limit; |
edy05 | 7:dcf0aa89bcd7 | 54 | |
edy05 | 7:dcf0aa89bcd7 | 55 | Timer timer1; |
edy05 | 8:0a10bacaf501 | 56 | Timer timerLimit; |
edy05 | 7:dcf0aa89bcd7 | 57 | Timer timer2; |
edy05 | 7:dcf0aa89bcd7 | 58 | |
edy05 | 13:e9b99635aa2d | 59 | osThreadId id; |
edy05 | 13:e9b99635aa2d | 60 | |
edy05 | 7:dcf0aa89bcd7 | 61 | RtosTimer *threadUpdateTimer1; |
edy05 | 7:dcf0aa89bcd7 | 62 | RtosTimer *threadUpdateTimer2; |
edy05 | 7:dcf0aa89bcd7 | 63 | |
edy05 | 11:49a0feca5d71 | 64 | float distan1; |
edy05 | 7:dcf0aa89bcd7 | 65 | uint32_t distan2; |
edy05 | 13:e9b99635aa2d | 66 | bool tooLong; |
antoniolinux | 0:86b2086be101 | 67 | }; |
antoniolinux | 0:86b2086be101 | 68 | |
antoniolinux | 0:86b2086be101 | 69 | #endif |