Ryo Ogata / Mbed 2 deprecated ultra_sonic_test

ping))))))))

Dependencies:   TextLCD mbed

ping.cpp@0:b33b91b2061f, 2013-07-11 (annotated)

Committer:
OGA
Date:
Thu Jul 11 10:46:18 2013 +0000
Revision:
0:b33b91b2061f
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OGA 0:b33b91b2061f 1 #include "mbed.h"
OGA 0:b33b91b2061f 2 #include "ping.h"
OGA 0:b33b91b2061f 3
OGA 0:b33b91b2061f 4 //DigitalOut myled = LED1;
OGA 0:b33b91b2061f 5
OGA 0:b33b91b2061f 6 extern Timer timer2;
OGA 0:b33b91b2061f 7
OGA 0:b33b91b2061f 8 uint16_t ultrasonicVal[ALL_ULTRASONIC];
OGA 0:b33b91b2061f 9 double ultrasonicValue[ALL_ULTRASONIC] = {0};
OGA 0:b33b91b2061f 10
OGA 0:b33b91b2061f 11
OGA 0:b33b91b2061f 12 void Ultrasonic()
OGA 0:b33b91b2061f 13 {
OGA 0:b33b91b2061f 14 for(int i = 0 ; i < ALL_ULTRASONIC; i++){
OGA 0:b33b91b2061f 15
OGA 0:b33b91b2061f 16 uint8_t flag = 0;
OGA 0:b33b91b2061f 17
OGA 0:b33b91b2061f 18 DigitalOut PingPinOut(ultrasonic_pin[i]);
OGA 0:b33b91b2061f 19 PingPinOut = 1;
OGA 0:b33b91b2061f 20 wait_us(10);
OGA 0:b33b91b2061f 21 PingPinOut = 0;
OGA 0:b33b91b2061f 22 DigitalIn PingPin(ultrasonic_pin[i]);
OGA 0:b33b91b2061f 23 timer2.reset();
OGA 0:b33b91b2061f 24 while(PingPin == 0){
OGA 0:b33b91b2061f 25 if(timer2.read_us() > 1500){ //1.5ms以上応答なし
OGA 0:b33b91b2061f 26 ultrasonicValue[i] = PING_ERR;
OGA 0:b33b91b2061f 27 flag = 1;
OGA 0:b33b91b2061f 28 break;
OGA 0:b33b91b2061f 29 }
OGA 0:b33b91b2061f 30 }
OGA 0:b33b91b2061f 31
OGA 0:b33b91b2061f 32 timer2.reset();
OGA 0:b33b91b2061f 33 while(PingPin == 1){
OGA 0:b33b91b2061f 34 if((timer2.read_us() > 18500) || (flag == 1)){ //18.5ms以上のパルス
OGA 0:b33b91b2061f 35 ultrasonicValue[i] = PING_ERR;
OGA 0:b33b91b2061f 36 flag = 1;
OGA 0:b33b91b2061f 37 break;
OGA 0:b33b91b2061f 38 }
OGA 0:b33b91b2061f 39 }
OGA 0:b33b91b2061f 40
OGA 0:b33b91b2061f 41 if(flag == 0){
OGA 0:b33b91b2061f 42 ultrasonicValue[i] = timer2.read_us() / 1000000.0 / 2.0 * 340.0 * 1000.0; //mm MAX:3145
OGA 0:b33b91b2061f 43 ultrasonicVal[i] = (int)(ultrasonicValue[i] * 10.0);
OGA 0:b33b91b2061f 44 }else{
OGA 0:b33b91b2061f 45 ultrasonicVal[i] = PING_ERR;
OGA 0:b33b91b2061f 46 }
OGA 0:b33b91b2061f 47
OGA 0:b33b91b2061f 48 }
OGA 0:b33b91b2061f 49 }