yuto kawamura / Mbed 2 deprecated MR2_n_1_class

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Dependencies:   mbed

hcsr04/hcsr04.cpp

Committer:
yuto17320508
Date:
2019-04-27
Revision:
6:75cfa1a66382
Parent:
0:111abd91b0cb

File content as of revision 6:75cfa1a66382:

#include "hcsr04.h"

#define v_o 343

HCSR04::HCSR04(PinName TrigPin,PinName EchoPin):
    trigger(TrigPin), echo(EchoPin)
{
    pulsetime.stop();
    pulsetime.reset();
    echo.rise(this,&HCSR04::isr_rise);
    echo.fall(this,&HCSR04::isr_fall);
    trigger=0;
}

HCSR04::~HCSR04()
{
}

void HCSR04::isr_rise(void)
{
    pulsetime.start();
}
void HCSR04::start(void)
{
    trigger=1;
    wait_us(10);
    trigger=0;
}

void HCSR04::isr_fall(void)
{
    pulsetime.stop();
    pulsedur = pulsetime.read_us();
    distance= (pulsedur*v_o)/20000;
    pulsetime.reset();
}

void HCSR04::rise (void (*fptr)(void))
{
    echo.rise(fptr);
}
void HCSR04::fall (void (*fptr)(void))
{
    echo.fall(fptr);
}

float HCSR04::get_dist_cm()
{
    return distance;
}
float HCSR04::get_pulse_us()
{
    return pulsedur;
}