akira yamada / SonicDist

割り込みを利用して超音波測距センサーをバックグラウンドで計測し続けられます。

Dependents:   escapeFromYou Sample_LinetraceWithSonicDist

SonicDist.cpp@8:8bb311d39a99, 2017-03-02 (annotated)

Committer:
natuga117
Date:
Thu Mar 02 18:01:45 2017 +0000
Revision:
8:8bb311d39a99
Parent:
7:4a171a80f085 
improved precision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
natuga117 3:b22567a5f7d6 1 #include "mbed.h"
natuga117 3:b22567a5f7d6 2 #include "SonicDist.h"
natuga117 6:ba801e0b68df 3 SonicDist::SonicDist(PinName Trig, PinName Echo)
natuga117 6:ba801e0b68df 4 {
natuga117 3:b22567a5f7d6 5 trig=new DigitalOut(Trig);
natuga117 6:ba801e0b68df 6 echo=new InterruptIn(Echo);
natuga117 3:b22567a5f7d6 7 soundspeed=340;
natuga117 3:b22567a5f7d6 8 startflag=false;
natuga117 8:8bb311d39a99 9 NoiseCheckFlag=false;
natuga117 6:ba801e0b68df 10 dist=-1;//まだ未測定時かどうかの判定用にdistはありえない値（負の値を代入しておく）
natuga117 3:b22567a5f7d6 11 trig->write(1);
natuga117 3:b22567a5f7d6 12 echo->rise( this, &SonicDist::StartMeasure );
natuga117 3:b22567a5f7d6 13 echo->fall( this, &SonicDist::endMeasure );
natuga117 3:b22567a5f7d6 14 }
natuga117 6:ba801e0b68df 15 void SonicDist::StartMeasure(void)
natuga117 6:ba801e0b68df 16 {
natuga117 8:8bb311d39a99 17 if(startflag && NoiseCheckFlag==false) {
natuga117 7:4a171a80f085 18 echotime.reset();
natuga117 8:8bb311d39a99 19 }else{
natuga117 8:8bb311d39a99 20 Postponement.detach();
natuga117 7:4a171a80f085 21 }
natuga117 3:b22567a5f7d6 22 }
natuga117 6:ba801e0b68df 23 void SonicDist::endMeasure(void)
natuga117 6:ba801e0b68df 24 {
natuga117 7:4a171a80f085 25 if(dist!=-1&& startflag) {
natuga117 8:8bb311d39a99 26 distbuf=echotime.read()*soundspeed*1000/2;//mmで出力
natuga117 8:8bb311d39a99 27 if(distbuf<10){distbuf=dist;}//立ち上がりノイズと判定
natuga117 3:b22567a5f7d6 28 startflag=false;
natuga117 8:8bb311d39a99 29 NoiseCheckFlag=true;
natuga117 8:8bb311d39a99 30 Postponement.attach(this,&SonicDist::FallNoiseCheck,0.04);
natuga117 6:ba801e0b68df 31 }
natuga117 3:b22567a5f7d6 32 }
natuga117 8:8bb311d39a99 33
natuga117 8:8bb311d39a99 34 void SonicDist::FallNoiseCheck(void)//ここに到達すると立下りのノイズではないと判定される
natuga117 8:8bb311d39a99 35 {
natuga117 8:8bb311d39a99 36 dist=distbuf;
natuga117 8:8bb311d39a99 37 NoiseCheckFlag=false;
natuga117 8:8bb311d39a99 38 }
natuga117 8:8bb311d39a99 39 void SonicDist::Init(void)
natuga117 8:8bb311d39a99 40 {
natuga117 8:8bb311d39a99 41 echotime.start();
natuga117 8:8bb311d39a99 42 pulse.attach(this,&SonicDist::setTrig,0.05);
natuga117 8:8bb311d39a99 43 dist=-2;
natuga117 8:8bb311d39a99 44 }
natuga117 6:ba801e0b68df 45 void SonicDist::setTrig(void)
natuga117 6:ba801e0b68df 46 {
natuga117 6:ba801e0b68df 47 startflag=true;
natuga117 8:8bb311d39a99 48 trig->write(!trig->read());
natuga117 3:b22567a5f7d6 49 }
natuga117 6:ba801e0b68df 50 double SonicDist::read(void)
natuga117 6:ba801e0b68df 51 {
natuga117 7:4a171a80f085 52 return SonicDist::read_mm()/10;
natuga117 3:b22567a5f7d6 53 }
natuga117 6:ba801e0b68df 54 double SonicDist::read_mm(void)
natuga117 6:ba801e0b68df 55 {
natuga117 7:4a171a80f085 56 if(dist<0) {
natuga117 7:4a171a80f085 57 SonicDist::takeDist();
natuga117 7:4a171a80f085 58 wait(0.03);
natuga117 7:4a171a80f085 59 }
natuga117 6:ba801e0b68df 60 return dist;
natuga117 3:b22567a5f7d6 61 }
natuga117 6:ba801e0b68df 62 double SonicDist::takeDist(void)
natuga117 6:ba801e0b68df 63 {
natuga117 7:4a171a80f085 64 if(dist==-1) {
natuga117 8:8bb311d39a99 65 SonicDist::Init();
natuga117 7:4a171a80f085 66 }
natuga117 6:ba801e0b68df 67 return (double)dist/10;
natuga117 6:ba801e0b68df 68 }