4180
Dependencies: mbed mbed-rtos PinDetect
ultrasonic.cpp@0:0ca943ce4014, 2020-04-27 (annotated)
- Committer:
- rpavoor3
- Date:
- Mon Apr 27 23:18:38 2020 +0000
- Revision:
- 0:0ca943ce4014
4180 Your Fitness Buddy
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rpavoor3 | 0:0ca943ce4014 | 1 | #include "ultrasonic.h" |
rpavoor3 | 0:0ca943ce4014 | 2 | |
rpavoor3 | 0:0ca943ce4014 | 3 | ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout):_trig(trigPin), _echo(echoPin) |
rpavoor3 | 0:0ca943ce4014 | 4 | { |
rpavoor3 | 0:0ca943ce4014 | 5 | _updateSpeed = updateSpeed; |
rpavoor3 | 0:0ca943ce4014 | 6 | _timeout = timeout; |
rpavoor3 | 0:0ca943ce4014 | 7 | } |
rpavoor3 | 0:0ca943ce4014 | 8 | |
rpavoor3 | 0:0ca943ce4014 | 9 | ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int)) |
rpavoor3 | 0:0ca943ce4014 | 10 | :_trig(trigPin), _echo(echoPin) |
rpavoor3 | 0:0ca943ce4014 | 11 | { |
rpavoor3 | 0:0ca943ce4014 | 12 | _onUpdateMethod=onUpdate; |
rpavoor3 | 0:0ca943ce4014 | 13 | _updateSpeed = updateSpeed; |
rpavoor3 | 0:0ca943ce4014 | 14 | _timeout = timeout; |
rpavoor3 | 0:0ca943ce4014 | 15 | _t.start (); |
rpavoor3 | 0:0ca943ce4014 | 16 | } |
rpavoor3 | 0:0ca943ce4014 | 17 | void ultrasonic::_startT() |
rpavoor3 | 0:0ca943ce4014 | 18 | { |
rpavoor3 | 0:0ca943ce4014 | 19 | if(_t.read()>600) |
rpavoor3 | 0:0ca943ce4014 | 20 | { |
rpavoor3 | 0:0ca943ce4014 | 21 | _t.reset (); |
rpavoor3 | 0:0ca943ce4014 | 22 | } |
rpavoor3 | 0:0ca943ce4014 | 23 | start = _t.read_us (); |
rpavoor3 | 0:0ca943ce4014 | 24 | } |
rpavoor3 | 0:0ca943ce4014 | 25 | |
rpavoor3 | 0:0ca943ce4014 | 26 | void ultrasonic::_updateDist() |
rpavoor3 | 0:0ca943ce4014 | 27 | { |
rpavoor3 | 0:0ca943ce4014 | 28 | end = _t.read_us (); |
rpavoor3 | 0:0ca943ce4014 | 29 | done = 1; |
rpavoor3 | 0:0ca943ce4014 | 30 | _distance = (end - start)/6; |
rpavoor3 | 0:0ca943ce4014 | 31 | _tout.detach(); |
rpavoor3 | 0:0ca943ce4014 | 32 | _tout.attach(this,&ultrasonic::_startTrig, _updateSpeed); |
rpavoor3 | 0:0ca943ce4014 | 33 | } |
rpavoor3 | 0:0ca943ce4014 | 34 | void ultrasonic::_startTrig(void) |
rpavoor3 | 0:0ca943ce4014 | 35 | { |
rpavoor3 | 0:0ca943ce4014 | 36 | _tout.detach(); |
rpavoor3 | 0:0ca943ce4014 | 37 | _trig=1; |
rpavoor3 | 0:0ca943ce4014 | 38 | wait_us(10); |
rpavoor3 | 0:0ca943ce4014 | 39 | done = 0; |
rpavoor3 | 0:0ca943ce4014 | 40 | _echo.rise(this,&ultrasonic::_startT); |
rpavoor3 | 0:0ca943ce4014 | 41 | _echo.fall(this,&ultrasonic::_updateDist); |
rpavoor3 | 0:0ca943ce4014 | 42 | _echo.enable_irq (); |
rpavoor3 | 0:0ca943ce4014 | 43 | _tout.attach(this,&ultrasonic::_startTrig,_timeout); |
rpavoor3 | 0:0ca943ce4014 | 44 | _trig=0; |
rpavoor3 | 0:0ca943ce4014 | 45 | } |
rpavoor3 | 0:0ca943ce4014 | 46 | |
rpavoor3 | 0:0ca943ce4014 | 47 | int ultrasonic::getCurrentDistance(void) |
rpavoor3 | 0:0ca943ce4014 | 48 | { |
rpavoor3 | 0:0ca943ce4014 | 49 | return _distance; |
rpavoor3 | 0:0ca943ce4014 | 50 | } |
rpavoor3 | 0:0ca943ce4014 | 51 | void ultrasonic::pauseUpdates(void) |
rpavoor3 | 0:0ca943ce4014 | 52 | { |
rpavoor3 | 0:0ca943ce4014 | 53 | _tout.detach(); |
rpavoor3 | 0:0ca943ce4014 | 54 | _echo.rise(NULL); |
rpavoor3 | 0:0ca943ce4014 | 55 | _echo.fall(NULL); |
rpavoor3 | 0:0ca943ce4014 | 56 | } |
rpavoor3 | 0:0ca943ce4014 | 57 | void ultrasonic::startUpdates(void) |
rpavoor3 | 0:0ca943ce4014 | 58 | { |
rpavoor3 | 0:0ca943ce4014 | 59 | _startTrig(); |
rpavoor3 | 0:0ca943ce4014 | 60 | } |
rpavoor3 | 0:0ca943ce4014 | 61 | void ultrasonic::attachOnUpdate(void method(int)) |
rpavoor3 | 0:0ca943ce4014 | 62 | { |
rpavoor3 | 0:0ca943ce4014 | 63 | _onUpdateMethod = method; |
rpavoor3 | 0:0ca943ce4014 | 64 | } |
rpavoor3 | 0:0ca943ce4014 | 65 | void ultrasonic::changeUpdateSpeed(float updateSpeed) |
rpavoor3 | 0:0ca943ce4014 | 66 | { |
rpavoor3 | 0:0ca943ce4014 | 67 | _updateSpeed = updateSpeed; |
rpavoor3 | 0:0ca943ce4014 | 68 | } |
rpavoor3 | 0:0ca943ce4014 | 69 | float ultrasonic::getUpdateSpeed() |
rpavoor3 | 0:0ca943ce4014 | 70 | { |
rpavoor3 | 0:0ca943ce4014 | 71 | return _updateSpeed; |
rpavoor3 | 0:0ca943ce4014 | 72 | } |
rpavoor3 | 0:0ca943ce4014 | 73 | int ultrasonic::isUpdated(void) |
rpavoor3 | 0:0ca943ce4014 | 74 | { |
rpavoor3 | 0:0ca943ce4014 | 75 | /****ADDED CODE ****/ |
rpavoor3 | 0:0ca943ce4014 | 76 | if (_distance <= 50) { |
rpavoor3 | 0:0ca943ce4014 | 77 | d = 1; |
rpavoor3 | 0:0ca943ce4014 | 78 | } else { |
rpavoor3 | 0:0ca943ce4014 | 79 | d = 0; |
rpavoor3 | 0:0ca943ce4014 | 80 | } |
rpavoor3 | 0:0ca943ce4014 | 81 | /******************/ |
rpavoor3 | 0:0ca943ce4014 | 82 | //d=done; |
rpavoor3 | 0:0ca943ce4014 | 83 | done = 0; |
rpavoor3 | 0:0ca943ce4014 | 84 | return d; |
rpavoor3 | 0:0ca943ce4014 | 85 | } |
rpavoor3 | 0:0ca943ce4014 | 86 | void ultrasonic::checkDistance(void) |
rpavoor3 | 0:0ca943ce4014 | 87 | { |
rpavoor3 | 0:0ca943ce4014 | 88 | if(isUpdated()) |
rpavoor3 | 0:0ca943ce4014 | 89 | { |
rpavoor3 | 0:0ca943ce4014 | 90 | (*_onUpdateMethod)(_distance); |
rpavoor3 | 0:0ca943ce4014 | 91 | } |
rpavoor3 | 0:0ca943ce4014 | 92 | } |