Tanu Tanu / HCSR04

Obstacle avoider

Fork of HCSR04 by Prabhu Desai

hcsr04.h@8:32c4f52c0b98, 2016-03-29 (annotated)

Committer:
goeltanu
Date:
Tue Mar 29 13:08:33 2016 +0000
Revision:
8:32c4f52c0b98
Parent:
7:71da0dbf4400 
Obstacle avoider

Who changed what in which revision?

UserRevisionLine numberNew contents of line
prabhuvd 0:fb0929f37ebe 1 /* Copyright (c) 2013 Prabhu Desai
prabhuvd 0:fb0929f37ebe 2 * pdtechworld@gmail.com
prabhuvd 0:fb0929f37ebe 3 *
prabhuvd 0:fb0929f37ebe 4 *
prabhuvd 0:fb0929f37ebe 5 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
prabhuvd 0:fb0929f37ebe 6 * and associated documentation files (the "Software"), to deal in the Software without restriction,
prabhuvd 0:fb0929f37ebe 7 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
prabhuvd 0:fb0929f37ebe 8 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
prabhuvd 0:fb0929f37ebe 9 * furnished to do so, subject to the following conditions:
prabhuvd 0:fb0929f37ebe 10 *
prabhuvd 0:fb0929f37ebe 11 * The above copyright notice and this permission notice shall be included in all copies or
prabhuvd 0:fb0929f37ebe 12 * substantial portions of the Software.
prabhuvd 0:fb0929f37ebe 13 *
prabhuvd 0:fb0929f37ebe 14 * For more details on the sensor :
prabhuvd 0:fb0929f37ebe 15 * http://www.elecfreaks.com/store/hcsr04-ultrasonic-sensor-distance-measuring-module-p-91.html?zenid=pgm8pgnvaodbe36dibq5s1soi3
prabhuvd 0:fb0929f37ebe 16 *
prabhuvd 0:fb0929f37ebe 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
prabhuvd 0:fb0929f37ebe 18 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
prabhuvd 0:fb0929f37ebe 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
prabhuvd 0:fb0929f37ebe 20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
prabhuvd 0:fb0929f37ebe 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
prabhuvd 0:fb0929f37ebe 22 */
prabhuvd 0:fb0929f37ebe 23
prabhuvd 0:fb0929f37ebe 24 #ifndef MBED_HCSR04_H
prabhuvd 0:fb0929f37ebe 25 #define MBED_HCSR04_H
prabhuvd 0:fb0929f37ebe 26
prabhuvd 0:fb0929f37ebe 27 #include "mbed.h"
prabhuvd 0:fb0929f37ebe 28
goeltanu 8:32c4f52c0b98 29 #define HIGH 1
goeltanu 8:32c4f52c0b98 30 #define LOW 0
goeltanu 8:32c4f52c0b98 31
prabhuvd 7:71da0dbf4400 32 /** HCSR04 Class(es)
prabhuvd 0:fb0929f37ebe 33 */
prabhuvd 0:fb0929f37ebe 34
prabhuvd 6:4be4fcd0c171 35 class HCSR04
prabhuvd 0:fb0929f37ebe 36 {
prabhuvd 0:fb0929f37ebe 37 public:
prabhuvd 6:4be4fcd0c171 38 /** Create a HCSR04 object connected to the specified pin
prabhuvd 0:fb0929f37ebe 39 * @param pin i/o pin to connect to
prabhuvd 0:fb0929f37ebe 40 */
prabhuvd 6:4be4fcd0c171 41 HCSR04(PinName TrigPin,PinName EchoPin);
prabhuvd 6:4be4fcd0c171 42 ~HCSR04();
prabhuvd 0:fb0929f37ebe 43
prabhuvd 0:fb0929f37ebe 44 /** Return the distance from obstacle in cm
prabhuvd 0:fb0929f37ebe 45 * @param distance in cms and returns -1, in case of failure
prabhuvd 0:fb0929f37ebe 46 */
prabhuvd 2:0acb6ade091c 47 unsigned int get_dist_cm(void);
prabhuvd 4:33938a97d904 48 /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver.
prabhuvd 7:71da0dbf4400 49 * @param pulse duration in microseconds.
prabhuvd 7:71da0dbf4400 50 */
prabhuvd 2:0acb6ade091c 51 unsigned int get_pulse_us(void);
prabhuvd 4:33938a97d904 52 /** Generates the trigger pulse of 10us on the trigger PIN.
prabhuvd 7:71da0dbf4400 53 */
prabhuvd 3:e6795cb9439c 54 void start(void );
prabhuvd 0:fb0929f37ebe 55 void isr_rise(void);
prabhuvd 0:fb0929f37ebe 56 void isr_fall(void);
prabhuvd 0:fb0929f37ebe 57 void fall (void (*fptr)(void));
prabhuvd 0:fb0929f37ebe 58 void rise (void (*fptr)(void));
prabhuvd 4:33938a97d904 59
prabhuvd 0:fb0929f37ebe 60
prabhuvd 0:fb0929f37ebe 61
prabhuvd 0:fb0929f37ebe 62 private:
prabhuvd 0:fb0929f37ebe 63
prabhuvd 0:fb0929f37ebe 64 Timer pulsetime;
prabhuvd 0:fb0929f37ebe 65 DigitalOut trigger;
prabhuvd 0:fb0929f37ebe 66 InterruptIn echo;
prabhuvd 0:fb0929f37ebe 67 unsigned int pulsedur;
prabhuvd 4:33938a97d904 68 unsigned int distance;
prabhuvd 0:fb0929f37ebe 69 };
prabhuvd 0:fb0929f37ebe 70
prabhuvd 0:fb0929f37ebe 71 #endif