Revision 0:7163b97ee5f1, committed 2016-01-13

Comitter:

igbt6

Date:

Wed Jan 13 01:09:55 2016 +0000

Commit message:

Library finished

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/US-015.cpp	Wed Jan 13 01:09:55 2016 +0000
@@ -0,0 +1,82 @@
+#include "US-015.h"
+
+
+
+US015::US015(PinName triggerPin, PinName echoPin, uint32_t timeout):trigger(triggerPin),echoIn(echoPin),timeoutValue(timeout)
+{
+    echoIn.rise(this, &US015::startMeasureCallback);
+    echoIn.fall(this, &US015::stopMeasureCallback);
+    timerCtrl = new TimeController();
+    measurementRunning=false;
+    measuremntFinishedCallback= NULL;
+}
+
+int US015::convertMaxDistanceToMaxTimeout(int maxDistHandledBySensorInCm){
+    return (maxDistHandledBySensorInCm) / (float)((SPEED_OF_SOUND)/10000)/2;
+}
+
+void US015::setFinishCallback(void (*finishCallback)(int resultValue))
+{
+    measuremntFinishedCallback= finishCallback;
+}
+
+bool US015::doMeasurement(void)
+{
+    if(isMeasurementRuning())
+        return false;
+    timerCtrl->startTime=0;
+    trigger.write(1);  //triggerPin
+    wait_us(30);
+    trigger.write(0);
+    measurementRunning=true;
+    return true;
+}
+
+bool US015::isMeasurementRuning()
+{
+    return measurementRunning;
+}
+
+int US015::convertTimeToDistanceValue_mm(int timeUs)
+{
+    return ((timeUs) * (float)((SPEED_OF_SOUND)/1000))/2;  //(0.343mm/us)
+}
+
+int US015::convertTimeToDistanceValue_cm(int timeUs)
+{
+    return ((timeUs) *(float)((SPEED_OF_SOUND)/10000))/2; //(0.034cm/us)
+}
+
+int US015::getTimePassedValue(void)
+{
+    return timerCtrl->timer.read_us()-timerCtrl->startTime;
+}
+
+int US015::getTimeoutValue(void)
+{
+    return timeoutValue;
+}
+
+void US015::resetMeasuremnt(void)
+{
+    timerCtrl->timer.reset();
+    measurementRunning=false;
+}
+
+//private methods
+void US015::startMeasureCallback(void)
+{
+    timerCtrl->timer.start();
+    timerCtrl->startTime= timerCtrl->timer.read_us();
+}
+
+void US015::stopMeasureCallback(void)
+{
+    timerCtrl->difTime= timerCtrl->timer.read_us()-timerCtrl->startTime;
+    resetMeasuremnt();
+    if(measuremntFinishedCallback!=NULL) 
+    {
+        (*measuremntFinishedCallback)(convertTimeToDistanceValue_mm(timerCtrl->difTime)); //for default
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/US-015.h	Wed Jan 13 01:09:55 2016 +0000
@@ -0,0 +1,100 @@
+/*
+  @file US-015.h
+  
+  @brief library for US-015 (or HC-SR04) Ultrasonic Module Distance Measuring Sensor
+
+  @Author lukasz uszko(luszko@op.pl)
+
+  Tested on most mbed platforms
+  
+  Copyright (c) 2016 lukasz uszko
+  Released under the MIT License (see http://mbed.org/license/mit)
+
+  Documentation regarding the US-015 sensor can be found here: 
+  http://www.micropik.com/PDF/HCSR04.pdf
+*/
+//DEMO - HOW TO USE:
+/*
+---------------------------------------- DEMO 1:----------------------------------------
+#include <mbed.h>
+#include "US-015.h"
+ 
+ 
+#define TRIGGER_PIN PC_1
+#define ECHO_PIN PC_0
+Serial debugPort(SERIAL_TX, SERIAL_RX); //Default 9600 bauds, 8-bit data, no parity
+ 
+void measurementFinished(int resultVal){
+   debugPort.printf("Distance: %d",resultVal);
+}
+int main()
+{
+    
+    US015 us015(TRIGGER_PIN,ECHO_PIN,US015::convertMaxDistanceToMaxTimeout(MAX_DISTANCE_FOR_US015_SENSOR_CM) );
+    us015.setFinishCallback(measurementFinished);
+    bool timeoutFlag=true;
+    while (1) {
+        wait_ms(1000);  
+        us015.doMeasurement();
+        while(us015.getTimePassedValue()<us015.getTimeoutValue())
+        {
+            if(us015.isMeasurementRuning())
+            {
+                timeoutFlag=true;
+            }
+            else
+            {
+                timeoutFlag =false;
+                break;
+            }
+        }  
+        if(timeoutFlag){
+            debugPort.printf("Timeout Happened");
+            us015.resetMeasuremnt();
+        }
+        
+    }
+}
+*/
+
+
+
+#include <mbed.h>
+
+#define DEFAULT_TIMEOUT 0xFFFFFFFF
+#define MAX_DISTANCE_FOR_US015_SENSOR_CM  400  //400cm
+#define SPEED_OF_SOUND 343.2f
+class US015{
+    
+public:
+
+    struct TimeController {
+        Timer timer;
+        int startTime;
+        int difTime;
+    };
+    
+    US015(PinName triggerPin, PinName echoPin,uint32_t timeout=DEFAULT_TIMEOUT);
+    static int convertMaxDistanceToMaxTimeout(int maxDistHandledBySensorInCm);
+    bool doMeasurement(void);    
+    int convertTimeToDistanceValue_mm(int timeUs);
+    int convertTimeToDistanceValue_cm(int timeUs);
+    void setFinishCallback(void (*finishCallback)(int resultValue));
+    bool isMeasurementRuning(void );
+    int getTimePassedValue(void);
+    int getTimeoutValue(void);
+    void resetMeasuremnt(void);
+
+private:    
+    void startMeasureCallback(void);
+    void stopMeasureCallback(void);
+    void (*measuremntFinishedCallback)(int result);
+    
+private:
+    bool measurementRunning;
+    DigitalOut trigger;
+    InterruptIn echoIn;
+    uint32_t timeoutValue;
+    struct TimeController* timerCtrl;
+    
+};
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