Diff: ultrasonic.cpp

Revision:

0:f3b355df6f26

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ultrasonic.cpp	Sun Apr 26 13:14:02 2015 +0000
@@ -0,0 +1,49 @@
+#include "ultrasonic.h"
+#include "threads.h"
+
+
+/*
+* Constructor 
+*/
+cUltrasonic::cUltrasonic(PinName pinEcho, PinName pinTrig) : echo(pinEcho), trig(pinTrig) {
+    echo.rise(this,&cUltrasonic::riseEdge);
+    echo.fall(this,&cUltrasonic::fallEdge);
+}
+
+
+/* 
+* This method set trigger
+*/
+void cUltrasonic::setTrig(void) {
+        trig.write(0);
+        wait_us(5);
+        trig.write(1); 
+        wait_us(10);
+        trig.write(0);
+}
+
+/* 
+* ISR of rising edge of received pulse 
+* in this thread the timer starts
+*/
+void cUltrasonic::riseEdge(void) {
+    timer.start();  
+}
+
+/*
+* ISR of falling edge of received pulse
+* in this thread is saved width of pulse and signal set to collect thread
+*/
+void cUltrasonic::fallEdge(void) {
+    timer.stop();
+    pulseWidth = timer.read_us();
+    timer.reset();
+    thread->signal_set(0x01);
+}
+
+/*
+* This method returns width  of pulse
+*/
+int cUltrasonic::getPulseWidth(void) {
+    return pulseWidth;  
+}
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