Diff: HCSR04.h

Revision:

0:5541303b14e7

Child:

1:8286d0de19ce

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.h	Mon Feb 08 14:43:42 2016 +0000
@@ -0,0 +1,81 @@
+/* HCSR04 Library v1.0
+ * Copyright (c) 2016 Grant Phillips
+ * grant.phillips@nmmu.ac.za
+ *
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+ 
+#ifndef HCSR04_H
+#define HCSR04_H
+ 
+#include "mbed.h"
+
+/** HC-SR04 Distance Sensor class based on PwmOut (Trig) and InterruptIn (Echo).
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "HCSR04.h"
+ *
+ * HCSR04 distance(PB_8, PA_1);
+ *
+ * int main() {
+ *     while(1){
+ *         SWO.printf("Distance = %d (us)   %f (cm)\n", distance.read_us(), distance.read_cm()); 
+ *     }
+ * }
+ * @endcode
+ */
+ 
+class HCSR04 {
+  public:
+    /** Create a HCSR04 object connected to the specified pins. Once created, the PWM signal
+    * on the Trig pin will start immediately and measurements will start in the background.
+    * @param TrigPin PwmOut compatible pin used to connect to HC-SR04's Trig pin
+    * @param EchoPin InterruptIn compatible pin used to connect to HC-SR04's Echo pin
+    */
+    HCSR04(PinName TrigPin, PinName EchoPin);
+    
+    /** Return the current pulse duration as microseconds (us).
+    * @param 
+    *     None
+    * @return 
+    *     Duration as microseconds.
+    */
+    unsigned int read_us();
+    
+    /** Return the current pulse duration as centimeters (cm).
+    * @param 
+    *     None
+    * @return
+    *     Duration as centimeters.
+    */
+    float read_cm();
+ 
+  private:
+    PwmOut trig;
+    InterruptIn echo;
+    Timer timer;
+    long us;
+    void HighTrigger();
+    void LowTrigger();
+};
+ 
+#endif
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