Eduard Medla
1 sensor using RTOS Timer, another 2 over RTOS Semaphore
Dependents: Autonomous_quadcopter
Fork of
HCSR04
by 
Antoniolinux B.
Revision 13:e9b99635aa2d, committed 2018-05-22
- Comitter:
- edy05
- Date:
- Tue May 22 19:35:58 2018 +0000
- Parent:
- 12:6f6469b2f016
- Commit message:
- Final updates
Changed in this revision
diff -r 6f6469b2f016 -r e9b99635aa2d front_back_sensors.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/front_back_sensors.h Tue May 22 19:35:58 2018 +0000
@@ -0,0 +1,141 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "hardware.h"
+
+
+void front_sensor(void);
+void back_sensor(void);
+
+void semaphore_thread(void const *name){
+ pc.printf("Starting semaphore thread\n\r");
+ while (true) {
+ _semaphore.wait();
+ //pc.printf("%s\n\r", (const char*)name);
+ if(strstr((const char*)name, "frontSensor") != NULL)
+ front_sensor();
+ if(strstr((const char*)name, "backSensor") != NULL)
+ back_sensor();
+
+ Thread::wait(100);
+ _semaphore.release();
+ }
+
+}
+
+void front_sensor(){
+ DigitalOut trig(p7);
+ DigitalIn echo(p8);
+ bool tooLong = false;
+ Timer timer;
+
+ timer.start();
+ trig=1;
+ wait_us(10);
+ trig=0;
+ while(!echo){
+ if(timer.read_us() > 5000)
+ tooLong = true;
+ }
+ if(tooLong == false){
+ timer.reset();
+ while(echo){
+ if(timer.read_us() > 5000)
+ break;
+ }
+ _frontDistance = timer.read_us() / 58;
+ //_frontWall = true;
+ //pc.printf("front distance %d \n\n\r", _frontDistance);
+ }
+}
+
+void back_sensor(){
+ DigitalOut trig(p19);
+ DigitalIn echo(p20);
+ bool tooLong = false;
+ Timer timer;
+
+ //printf("left sensor started \n\r");
+ timer.start();
+ trig=1;
+ wait_us(10);
+ trig=0;
+ while(!echo){
+ if(timer.read_us() > 5000)
+ tooLong = true;
+ }
+ timer.reset();
+ if(tooLong == false){
+ timer.reset();
+ while(echo){
+ if(timer.read_us() > 5000)
+ break;
+ }
+ _backDistance = timer.read_us() / 58;
+ //_backWall = true;
+ //pc.printf(" back distance %d \n\n\r", _backDistance);
+ }
+
+}
+
+/*
+void left_sensor(){
+ DigitalOut trig(p19);
+ DigitalIn echo(p20);
+ bool tooLong = false;
+ Timer timer;
+ //printf("left sensor started \n\r");
+ timer.start();
+ //while(1){
+ trig=1; // trigger high
+ //printf("trig\n\r");
+ wait_us(10);
+ //printf("wait\n\r");
+ trig=0; // trigger low
+ // start pulseIN
+ while(!echo){
+ if(timer.read_us() > 5000)
+ tooLong = true;
+ }
+ if(tooLong == false){
+ timer.reset();
+ while(echo){
+ if(timer.read_us() > 5000)
+ break;
+ }
+ _leftDistance = timer.read_us() / 58;
+ if(_leftDistance <= 30)
+ _leftWall = true;
+ //pc.printf("left distance %d \n\n\r", _leftDistance);
+ }
+ //Thread::wait(100);
+ //}
+
+}
+
+void right_sensor(){
+ DigitalOut trig(p17);
+ DigitalIn echo(p18);
+
+ Timer timer;
+ //printf("left sensor started \n\r");
+ timer.start();
+ //while(1){
+ trig=1; // trigger high
+ //printf("trig\n\r");
+ wait_us(10);
+ //printf("wait\n\r");
+ trig=0; // trigger low
+ // start pulseIN
+ while(!echo);
+ timer.reset();
+ while(echo);
+ _rightDistance = timer.read_us() / 58;
+ if(_rightDistance <= 40)
+ _rightWall = true;
+ pc.printf("right distance %d \n\n\r", _rightDistance);
+
+ //Thread::wait(100);
+ //}
+
+}
+*/
diff -r 6f6469b2f016 -r e9b99635aa2d front_sensor.h
--- a/front_sensor.h Tue May 15 10:32:08 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,132 +0,0 @@
-#include "mbed.h"
-#include "rtos.h"
-#include "hardware.h"
-
-
-void front_sensor(void);
-void left_sensor(void);
-void right_sensor(void);
-void back_sensor(void);
-
-void semaphore_thread(void const *name){
- pc.printf("Starting semaphore thread\n\r");
- while (true) {
- _semaphore.wait();
- //pc.printf("%s\n\r", (const char*)name);
-
- if(strstr((const char*)name, "leftSensor") != NULL)
- left_sensor();
- if(strstr((const char*)name, "frontSensor") != NULL)
- front_sensor();
- if(strstr((const char*)name, "rightSensor") != NULL)
- right_sensor();
- if(strstr((const char*)name, "backSensor") != NULL)
- back_sensor();
-
-
- Thread::wait(100);
- _semaphore.release();
- }
-
-}
-
-void front_sensor(){
- DigitalOut trig(p7);
- DigitalIn echo(p8);
-
- Timer timer;
- //printf("front sensor started \n\r");
- timer.start();
- //while(1){
- trig=1; // trigger high
- //printf("trig\n\r");
- wait_us(10);
- //printf("wait\n\r");
- trig=0; // trigger low
- // start pulseIN
- while(!echo);
- timer.reset();
- while(echo);
- _frontDistance = timer.read_us() / 58;
- //printf("front distance %d \n\n\r", _frontDistance);
-
- //Thread::wait(100);
- //}
-
-
-}
-
-void left_sensor(){
- DigitalOut trig(p19);
- DigitalIn echo(p20);
-
- Timer timer;
- //printf("left sensor started \n\r");
- timer.start();
- //while(1){
- trig=1; // trigger high
- //printf("trig\n\r");
- wait_us(10);
- //printf("wait\n\r");
- trig=0; // trigger low
- // start pulseIN
- while(!echo);
- timer.reset();
- while(echo);
- _leftDistance = timer.read_us() / 58;
- //pc.printf("left distance %d \n\n\r", _leftDistance);
-
- //Thread::wait(100);
- //}
-
-}
-
-void right_sensor(){
- DigitalOut trig(p17);
- DigitalIn echo(p18);
-
- Timer timer;
- //printf("left sensor started \n\r");
- timer.start();
- //while(1){
- trig=1; // trigger high
- //printf("trig\n\r");
- wait_us(10);
- //printf("wait\n\r");
- trig=0; // trigger low
- // start pulseIN
- while(!echo);
- timer.reset();
- while(echo);
- _rightDistance = timer.read_us() / 58;
- //pc.printf("left distance %d \n\n\r", _leftDistance);
-
- //Thread::wait(100);
- //}
-
-}
-
-void back_sensor(){
- DigitalOut trig(p15);
- DigitalIn echo(p16);
-
- Timer timer;
- //printf("left sensor started \n\r");
- timer.start();
- //while(1){
- trig=1; // trigger high
- //printf("trig\n\r");
- wait_us(10);
- //printf("wait\n\r");
- trig=0; // trigger low
- // start pulseIN
- while(!echo);
- timer.reset();
- while(echo);
- _backDistance = timer.read_us() / 58;
- //pc.printf("left distance %d \n\n\r", _leftDistance);
-
- //Thread::wait(100);
- //}
-
-}
\ No newline at end of file
diff -r 6f6469b2f016 -r e9b99635aa2d hcsr04.cpp
--- a/hcsr04.cpp Tue May 15 10:32:08 2018 +0000
+++ b/hcsr04.cpp Tue May 22 19:35:58 2018 +0000
@@ -14,6 +14,9 @@
threadUpdateTimer1 = new RtosTimer(threadWorker1, osTimerPeriodic, this);
threadUpdateTimer1->start(rate);
+ id = Thread::gettid();
+ printf("down sonic gettid 0x%08X \n\r", id);
+
//threadUpdateTimer2 = new RtosTimer(threadWorker2, osTimerPeriodic, this);
//threadUpdateTimer2->start(rate);
}
diff -r 6f6469b2f016 -r e9b99635aa2d hcsr04.h
--- a/hcsr04.h Tue May 15 10:32:08 2018 +0000
+++ b/hcsr04.h Tue May 22 19:35:58 2018 +0000
@@ -56,11 +56,14 @@
Timer timerLimit;
Timer timer2;
+ osThreadId id;
+
RtosTimer *threadUpdateTimer1;
RtosTimer *threadUpdateTimer2;
float distan1;
uint32_t distan2;
+ bool tooLong;
};
#endif
\ No newline at end of file