Revision 0:6269b1b47590, committed 2019-06-12

Comitter:

taeyeobyeo

Date:

Wed Jun 12 13:21:41 2019 +0000

Commit message:

aa

Changed in this revision

diff -r 000000000000 -r 6269b1b47590 Ultrasonic.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ultrasonic.cpp	Wed Jun 12 13:21:41 2019 +0000
@@ -0,0 +1,83 @@
+#include "Ultrasonic.h"
+/* Constructor& Destructor
+ * trigPin - attach ultrasonic wave trig pin (or shooting pin)
+ * echoPin - attach ultrasonic wave echo pin (or reading pin)
+ * tick - float value for repeat mode, default is 0.1.
+ * repeat - if true, ultrasonic wave will be triggered and received at every *tick second.
+ */
+Ultrasonic::Ultrasonic(PinName trigPin, PinName echoPin, float tick, bool repeat)
+:    _trig(trigPin), _echo(echoPin), _toVal(tick), _repeat(repeat)
+{
+    _done = 0;
+    _timer.reset();
+    _echo.rise(this, &Ultrasonic::_startT);
+    _echo.fall(this, &Ultrasonic::_endT);
+    if(_repeat) _ticker.attach(this, &Ultrasonic::_ticker_cb, _toVal);
+}
+
+Ultrasonic::~Ultrasonic(){}
+
+/*receive echo of ultrasonic wave*/
+void Ultrasonic::_startT(void){
+    _timer.start();
+}
+void Ultrasonic::_endT(void){
+    _timer.stop();
+    _pulseDuration = _timer.read_us();
+    _distance = _pulseDuration/58;
+    _timer.reset();
+    _done = 1;
+}
+
+/*shoots ultrasonic wave*/
+void Ultrasonic::trig(){
+    _echo.enable_irq();
+        wait_us(2);
+        _trig = 1;
+        wait_us(10);
+        _trig = 0;    
+}
+
+/** The Callback function for ticker
+ * Enabled on repeat mode
+ * _ticker_cb is triggered every _toVal second.
+ */
+void Ultrasonic::_ticker_cb(void){
+    this->trig();
+}
+
+/** getter methods */
+int Ultrasonic::getDistance(void){
+    return _distance;
+}
+int Ultrasonic::getPulseDuration(void){
+    return _pulseDuration;    
+}
+int Ultrasonic::getStatus(){
+    return _done;
+}
+
+/** setter Methods
+ * clearStatus clears _done variable. this method should be called by user to acknowledge the library that user read the value
+ * pauseMeasure is useful only when _repeat is true, it turns the _repeat to false
+ * setMode is a method to manipulate _repeat to true or false
+ * setTick method can change every time of each term in repeat mode
+ */
+void Ultrasonic::clearStatus(void){
+    _done = 0;
+    _distance = 0;
+    _pulseDuration = 0;
+}
+void Ultrasonic::pauseMeasure(void){
+    _repeat = false;
+    _ticker.detach();
+}
+void Ultrasonic::setMode(bool mode){
+    _repeat = mode;
+    if(_repeat) _ticker.attach(this, &Ultrasonic::_ticker_cb, _toVal);
+    else _ticker.detach();
+}
+void Ultrasonic::setTick(float tick){
+    if(tick>0) _toVal = tick;
+    else _toVal = -tick;
+}

diff -r 000000000000 -r 6269b1b47590 Ultrasonic.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ultrasonic.h	Wed Jun 12 13:21:41 2019 +0000
@@ -0,0 +1,39 @@
+#ifndef MBED_ULTRASONIC_H
+#define MBED_ULTRASONIC_H
+
+#include "mbed.h"
+/*header file Ultrasonic module HC-SR04*/
+class Ultrasonic {
+    public:
+        Ultrasonic(PinName trigPin, PinName echoPin, float tick = 0.1, bool repeat = false);
+        ~Ultrasonic();
+        
+        void trig();
+        int getDistance(void);
+        int getPulseDuration(void);
+        int getStatus(void);
+        
+        void clearStatus(void);
+        void pauseMeasure(void);
+        void setMode(bool mode);
+        
+        void setTick(float tick);
+    private:   
+        DigitalOut _trig;
+        InterruptIn _echo;
+        Timer _timer;
+        Ticker _ticker;
+        
+        float _toVal;
+        bool _repeat;
+        int _done;
+        
+        int _distance;
+        int _pulseDuration;
+        
+        void _startT(void);
+        void _endT(void);
+        void _ticker_cb(void);
+};
+
+#endif MBED_ULTRASONIC_H
\ No newline at end of file