SRF05.h

00001 /* mbed SRF05 Ultrasonic Rangefiner Library
00002  * Copyright (c) 2007-2010, cstyles, sford
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #ifndef MBED_SRF05_H
00024 #define MBED_SRF05_H
00025 
00026 #include "mbed.h"
00027 
00028 extern volatile char SendByte;
00029 
00030 /** Library for the SRF05 Ultrasonic range finder
00031  *
00032  * Example:
00033  * @code
00034  * // Print measured distance
00035  *
00036  * #include "mbed.h"
00037  * #include "SRF05.h"
00038  *
00039  * SRF05 srf(p9,p10);
00040  *
00041  * int main() {
00042  *     while(1) {
00043  *         printf("Measured : %.1f\n", srf.read());
00044  *         wait(0.2);
00045  *     }
00046  * }
00047  * @endcode
00048  */
00049 class SRF05 {
00050 public:
00051 
00052     /** Create a SRF05 object, connected to the specified pins
00053      *
00054      * @param trigger DigitalOut to the SRF05 trigger
00055      * @param echo InterruptIn to measure the return pulse
00056      */
00057     SRF05(PinName trigger, PinName echo);
00058     
00059     /** A non-blocking function that will return the last measurement
00060      *
00061      * @returns floating point representation of distance in cm
00062      */
00063     float read();
00064     
00065     // Trigs the ranger
00066     void trig();
00067 
00068     /** A short hand way of using the read function */
00069     operator float();
00070     
00071 private :
00072     DigitalOut _trigger;
00073     InterruptIn _echo;
00074     Timer _timer;
00075     Ticker _ticker;
00076     void _rising (void);
00077     void _falling (void);
00078 //    void _startRange (void);
00079     float _dist;
00080 };
00081 
00082 #endif