hcsr04.h

00001 /* File: HCSR04.h
00002  * Author: Antonio Buonanno  
00003  *Board: STM NUCLEO F401RE, 
00004  *Hardware: Ultrasonic Range HC-SR04,  
00005  * 
00006  *This work derived from Arduino library, 
00007  *
00008  * Desc: driver for HCSR04 Ultrasonic Range Finder.  The returned range
00009  *       is in units of meters.
00010  *  
00011  *       
00012  *
00013 */
00014 
00015 /* EXAMPLE
00016 #include "mbed.h"
00017 #include "hcsr04.h"
00018 
00019 //D12 TRIGGER D11 ECHO
00020    HCSR04 sensor(D12, D11); 
00021 int main() {
00022     while(1) {
00023         
00024      long distance = sensor.distance();   
00025       printf("distanza  %d  \n",distance);
00026       wait(1.0); // 1 sec  
00027         
00028     }
00029 }
00030 */
00031 #ifndef hcsr04_H
00032 #define hcsr04_H
00033 #include "mbed.h"
00034 #include "rtos.h"
00035 
00036 
00037  
00038 class HCSR04 {
00039   public:
00040     HCSR04(PinName t1, PinName e1);
00041 
00042     float getDistan1();
00043     uint16_t getDistan2();
00044  
00045     private:
00046         static void threadWorker1(void const *p);
00047         static void threadWorker2(void const *p);
00048     
00049         DigitalOut trig1;
00050         DigitalIn echo1;
00051         
00052         // sonic thread can't run longer than thread frequency
00053         uint32_t limit;
00054         
00055         Timer timer1;
00056         Timer timerLimit;
00057         Timer timer2;
00058         
00059         osThreadId id;
00060         
00061         RtosTimer *threadUpdateTimer1;
00062         RtosTimer *threadUpdateTimer2;
00063         
00064         float distan1;
00065         uint32_t distan2;
00066         bool tooLong;
00067 };
00068  
00069 #endif