EJ Teb / HC_SR04_Ultrasonic_Library

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?

UserRevisionLine numberNew 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 }