Works with interrupts
Dependents: Nucleo_UltrasonicHelloWorld Proj Nucleo_UltrasonicHelloWorld mbedTurtleCar ... more
ultrasonic.cpp@3:3459c57331e2, 2014-11-24 (annotated)
- Committer:
- ejteb
- Date:
- Mon Nov 24 20:18:14 2014 +0000
- Revision:
- 3:3459c57331e2
- Parent:
- 2:cc1143d36567
- Child:
- 4:e0f9c9fb4cf3
added debugging
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ejteb | 0:6aa04a8c8d4c | 1 | #include "ultrasonic.h" |
ejteb | 0:6aa04a8c8d4c | 2 | |
ejteb | 0:6aa04a8c8d4c | 3 | ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout):_trig(trigPin), _echo(echoPin) |
ejteb | 0:6aa04a8c8d4c | 4 | { |
ejteb | 0:6aa04a8c8d4c | 5 | _updateSpeed = updateSpeed; |
ejteb | 0:6aa04a8c8d4c | 6 | _timeout = timeout; |
ejteb | 0:6aa04a8c8d4c | 7 | } |
ejteb | 0:6aa04a8c8d4c | 8 | |
ejteb | 2:cc1143d36567 | 9 | ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int)) |
ejteb | 0:6aa04a8c8d4c | 10 | :_trig(trigPin), _echo(echoPin) |
ejteb | 0:6aa04a8c8d4c | 11 | { |
ejteb | 0:6aa04a8c8d4c | 12 | _onUpdateMethod=onUpdate; |
ejteb | 0:6aa04a8c8d4c | 13 | _updateSpeed = updateSpeed; |
ejteb | 0:6aa04a8c8d4c | 14 | _timeout = timeout; |
ejteb | 0:6aa04a8c8d4c | 15 | _t.start (); |
ejteb | 0:6aa04a8c8d4c | 16 | } |
ejteb | 2:cc1143d36567 | 17 | void ultrasonic::_startT() |
ejteb | 2:cc1143d36567 | 18 | { |
ejteb | 2:cc1143d36567 | 19 | if(_t.read()>600) |
ejteb | 2:cc1143d36567 | 20 | { |
ejteb | 2:cc1143d36567 | 21 | _t.reset (); |
ejteb | 2:cc1143d36567 | 22 | } |
ejteb | 0:6aa04a8c8d4c | 23 | start = _t.read_us (); |
ejteb | 0:6aa04a8c8d4c | 24 | } |
ejteb | 0:6aa04a8c8d4c | 25 | |
ejteb | 0:6aa04a8c8d4c | 26 | void ultrasonic::_updateDist() |
ejteb | 0:6aa04a8c8d4c | 27 | { |
ejteb | 0:6aa04a8c8d4c | 28 | end = _t.read_us (); |
ejteb | 0:6aa04a8c8d4c | 29 | done = 1; |
ejteb | 0:6aa04a8c8d4c | 30 | _distance = (end - start)/6; |
ejteb | 0:6aa04a8c8d4c | 31 | _tout.detach(); |
ejteb | 2:cc1143d36567 | 32 | _tout.attach(this,&ultrasonic::_startTrig, _updateSpeed); |
ejteb | 0:6aa04a8c8d4c | 33 | } |
ejteb | 0:6aa04a8c8d4c | 34 | void ultrasonic::_startTrig(void) |
ejteb | 0:6aa04a8c8d4c | 35 | { |
ejteb | 0:6aa04a8c8d4c | 36 | _tout.detach(); |
ejteb | 0:6aa04a8c8d4c | 37 | _trig=1; |
ejteb | 0:6aa04a8c8d4c | 38 | wait_us(10); |
ejteb | 0:6aa04a8c8d4c | 39 | done = 0; |
ejteb | 0:6aa04a8c8d4c | 40 | _echo.rise(this,&ultrasonic::_startT); |
ejteb | 0:6aa04a8c8d4c | 41 | _echo.fall(this,&ultrasonic::_updateDist); |
ejteb | 0:6aa04a8c8d4c | 42 | _echo.enable_irq (); |
ejteb | 0:6aa04a8c8d4c | 43 | _tout.attach(this,&ultrasonic::_startTrig,_timeout); |
ejteb | 2:cc1143d36567 | 44 | _trig=0; |
ejteb | 0:6aa04a8c8d4c | 45 | } |
ejteb | 0:6aa04a8c8d4c | 46 | |
ejteb | 0:6aa04a8c8d4c | 47 | int ultrasonic::getCurrentDistance(void) |
ejteb | 0:6aa04a8c8d4c | 48 | { |
ejteb | 0:6aa04a8c8d4c | 49 | return _distance; |
ejteb | 0:6aa04a8c8d4c | 50 | } |
ejteb | 0:6aa04a8c8d4c | 51 | void ultrasonic::pauseUpdates(void) |
ejteb | 0:6aa04a8c8d4c | 52 | { |
ejteb | 0:6aa04a8c8d4c | 53 | _tout.detach(); |
ejteb | 0:6aa04a8c8d4c | 54 | _echo.rise(NULL); |
ejteb | 0:6aa04a8c8d4c | 55 | _echo.fall(NULL); |
ejteb | 0:6aa04a8c8d4c | 56 | } |
ejteb | 0:6aa04a8c8d4c | 57 | void ultrasonic::startUpdates(void) |
ejteb | 0:6aa04a8c8d4c | 58 | { |
ejteb | 0:6aa04a8c8d4c | 59 | _startTrig(); |
ejteb | 0:6aa04a8c8d4c | 60 | } |
ejteb | 0:6aa04a8c8d4c | 61 | void ultrasonic::attachOnUpdate(void method(int)) |
ejteb | 0:6aa04a8c8d4c | 62 | { |
ejteb | 0:6aa04a8c8d4c | 63 | _onUpdateMethod = method; |
ejteb | 0:6aa04a8c8d4c | 64 | } |
ejteb | 0:6aa04a8c8d4c | 65 | void ultrasonic::changeUpdateSpeed(float updateSpeed) |
ejteb | 0:6aa04a8c8d4c | 66 | { |
ejteb | 0:6aa04a8c8d4c | 67 | _updateSpeed = updateSpeed; |
ejteb | 0:6aa04a8c8d4c | 68 | } |
ejteb | 0:6aa04a8c8d4c | 69 | float ultrasonic::getUpdateSpeed() |
ejteb | 0:6aa04a8c8d4c | 70 | { |
ejteb | 0:6aa04a8c8d4c | 71 | return _updateSpeed; |
ejteb | 0:6aa04a8c8d4c | 72 | } |
ejteb | 0:6aa04a8c8d4c | 73 | int ultrasonic::isUpdated(void) |
ejteb | 0:6aa04a8c8d4c | 74 | { |
ejteb | 3:3459c57331e2 | 75 | printf("%d", done); |
ejteb | 0:6aa04a8c8d4c | 76 | d=done; |
ejteb | 0:6aa04a8c8d4c | 77 | done = 0; |
ejteb | 0:6aa04a8c8d4c | 78 | return d; |
ejteb | 0:6aa04a8c8d4c | 79 | } |
ejteb | 2:cc1143d36567 | 80 | void ultrasonic::checkDistance(void) |
ejteb | 2:cc1143d36567 | 81 | { |
ejteb | 2:cc1143d36567 | 82 | if(isUpdated()) |
ejteb | 2:cc1143d36567 | 83 | { |
ejteb | 2:cc1143d36567 | 84 | (*_onUpdateMethod)(_distance); |
ejteb | 2:cc1143d36567 | 85 | } |
ejteb | 2:cc1143d36567 | 86 | } |