363 lines
16 KiB
C++
363 lines
16 KiB
C++
// ---------------------------------------------------------------------------
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// Created by Tim Eckel - teckel@leethost.com
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// Copyright 2016 License: GNU GPL v3 http://www.gnu.org/licenses/gpl.html
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//
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// See "NewPing.h" for purpose, syntax, version history, links, and more.
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// ---------------------------------------------------------------------------
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#include "NewPing.h"
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// ---------------------------------------------------------------------------
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// NewPing constructor
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// ---------------------------------------------------------------------------
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NewPing::NewPing(uint8_t trigger_pin, uint8_t echo_pin, unsigned int max_cm_distance) {
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#if DO_BITWISE == true
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_triggerBit = digitalPinToBitMask(trigger_pin); // Get the port register bitmask for the trigger pin.
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_echoBit = digitalPinToBitMask(echo_pin); // Get the port register bitmask for the echo pin.
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_triggerOutput = portOutputRegister(digitalPinToPort(trigger_pin)); // Get the output port register for the trigger pin.
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_echoInput = portInputRegister(digitalPinToPort(echo_pin)); // Get the input port register for the echo pin.
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_triggerMode = (uint8_t *) portModeRegister(digitalPinToPort(trigger_pin)); // Get the port mode register for the trigger pin.
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#else
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_triggerPin = trigger_pin;
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_echoPin = echo_pin;
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#endif
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set_max_distance(max_cm_distance); // Call function to set the max sensor distance.
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#if (defined (__arm__) && defined (TEENSYDUINO)) || DO_BITWISE != true
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pinMode(echo_pin, INPUT); // Set echo pin to input (on Teensy 3.x (ARM), pins default to disabled, at least one pinMode() is needed for GPIO mode).
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pinMode(trigger_pin, OUTPUT); // Set trigger pin to output (on Teensy 3.x (ARM), pins default to disabled, at least one pinMode() is needed for GPIO mode).
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#endif
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#if defined (ARDUINO_AVR_YUN)
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pinMode(echo_pin, INPUT); // Set echo pin to input for the Arduino Yun, not sure why it doesn't default this way.
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#endif
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#if ONE_PIN_ENABLED != true && DO_BITWISE == true
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*_triggerMode |= _triggerBit; // Set trigger pin to output.
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#endif
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}
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// ---------------------------------------------------------------------------
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// Standard ping methods
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// ---------------------------------------------------------------------------
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unsigned int NewPing::ping(unsigned int max_cm_distance) {
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if (max_cm_distance > 0) set_max_distance(max_cm_distance); // Call function to set a new max sensor distance.
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if (!ping_trigger()) return NO_ECHO; // Trigger a ping, if it returns false, return NO_ECHO to the calling function.
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#if URM37_ENABLED == true
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#if DO_BITWISE == true
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while (!(*_echoInput & _echoBit)) // Wait for the ping echo.
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#else
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while (!digitalRead(_echoPin)) // Wait for the ping echo.
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#endif
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if (micros() > _max_time) return NO_ECHO; // Stop the loop and return NO_ECHO (false) if we're beyond the set maximum distance.
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#else
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#if DO_BITWISE == true
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while (*_echoInput & _echoBit) // Wait for the ping echo.
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#else
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while (digitalRead(_echoPin)) // Wait for the ping echo.
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#endif
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if (micros() > _max_time) return NO_ECHO; // Stop the loop and return NO_ECHO (false) if we're beyond the set maximum distance.
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#endif
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return (micros() - (_max_time - _maxEchoTime) - PING_OVERHEAD); // Calculate ping time, include overhead.
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}
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unsigned long NewPing::ping_cm(unsigned int max_cm_distance) {
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unsigned long echoTime = NewPing::ping(max_cm_distance); // Calls the ping method and returns with the ping echo distance in uS.
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#if ROUNDING_ENABLED == false
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return (echoTime / US_ROUNDTRIP_CM); // Call the ping method and returns the distance in centimeters (no rounding).
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#else
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return NewPingConvert(echoTime, US_ROUNDTRIP_CM); // Convert uS to centimeters.
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#endif
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}
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unsigned long NewPing::ping_in(unsigned int max_cm_distance) {
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unsigned long echoTime = NewPing::ping(max_cm_distance); // Calls the ping method and returns with the ping echo distance in uS.
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#if ROUNDING_ENABLED == false
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return (echoTime / US_ROUNDTRIP_IN); // Call the ping method and returns the distance in inches (no rounding).
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#else
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return NewPingConvert(echoTime, US_ROUNDTRIP_IN); // Convert uS to inches.
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#endif
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}
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unsigned long NewPing::ping_median(uint8_t it, unsigned int max_cm_distance) {
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unsigned int uS[it], last;
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uint8_t j, i = 0;
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unsigned long t;
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uS[0] = NO_ECHO;
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while (i < it) {
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t = micros(); // Start ping timestamp.
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last = ping(max_cm_distance); // Send ping.
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if (last != NO_ECHO) { // Ping in range, include as part of median.
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if (i > 0) { // Don't start sort till second ping.
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for (j = i; j > 0 && uS[j - 1] < last; j--) // Insertion sort loop.
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uS[j] = uS[j - 1]; // Shift ping array to correct position for sort insertion.
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} else j = 0; // First ping is sort starting point.
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uS[j] = last; // Add last ping to array in sorted position.
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i++; // Move to next ping.
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} else it--; // Ping out of range, skip and don't include as part of median.
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if (i < it && micros() - t < PING_MEDIAN_DELAY)
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delay((PING_MEDIAN_DELAY + t - micros()) / 1000); // Millisecond delay between pings.
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}
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return (uS[it >> 1]); // Return the ping distance median.
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}
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// ---------------------------------------------------------------------------
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// Standard and timer interrupt ping method support functions (not called directly)
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// ---------------------------------------------------------------------------
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boolean NewPing::ping_trigger() {
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#if DO_BITWISE == true
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#if ONE_PIN_ENABLED == true
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*_triggerMode |= _triggerBit; // Set trigger pin to output.
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#endif
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*_triggerOutput &= ~_triggerBit; // Set the trigger pin low, should already be low, but this will make sure it is.
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delayMicroseconds(4); // Wait for pin to go low.
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*_triggerOutput |= _triggerBit; // Set trigger pin high, this tells the sensor to send out a ping.
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delayMicroseconds(10); // Wait long enough for the sensor to realize the trigger pin is high. Sensor specs say to wait 10uS.
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*_triggerOutput &= ~_triggerBit; // Set trigger pin back to low.
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#if ONE_PIN_ENABLED == true
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*_triggerMode &= ~_triggerBit; // Set trigger pin to input (when using one Arduino pin, this is technically setting the echo pin to input as both are tied to the same Arduino pin).
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#endif
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#if URM37_ENABLED == true
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if (!(*_echoInput & _echoBit)) return false; // Previous ping hasn't finished, abort.
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_max_time = micros() + _maxEchoTime + MAX_SENSOR_DELAY; // Maximum time we'll wait for ping to start (most sensors are <450uS, the SRF06 can take up to 34,300uS!)
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while (*_echoInput & _echoBit) // Wait for ping to start.
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if (micros() > _max_time) return false; // Took too long to start, abort.
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#else
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if (*_echoInput & _echoBit) return false; // Previous ping hasn't finished, abort.
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_max_time = micros() + _maxEchoTime + MAX_SENSOR_DELAY; // Maximum time we'll wait for ping to start (most sensors are <450uS, the SRF06 can take up to 34,300uS!)
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while (!(*_echoInput & _echoBit)) // Wait for ping to start.
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if (micros() > _max_time) return false; // Took too long to start, abort.
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#endif
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#else
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#if ONE_PIN_ENABLED == true
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pinMode(_triggerPin, OUTPUT); // Set trigger pin to output.
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#endif
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digitalWrite(_triggerPin, LOW); // Set the trigger pin low, should already be low, but this will make sure it is.
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delayMicroseconds(4); // Wait for pin to go low.
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digitalWrite(_triggerPin, HIGH); // Set trigger pin high, this tells the sensor to send out a ping.
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delayMicroseconds(10); // Wait long enough for the sensor to realize the trigger pin is high. Sensor specs say to wait 10uS.
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digitalWrite(_triggerPin, LOW); // Set trigger pin back to low.
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#if ONE_PIN_ENABLED == true
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pinMode(_triggerPin, INPUT); // Set trigger pin to input (when using one Arduino pin, this is technically setting the echo pin to input as both are tied to the same Arduino pin).
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#endif
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#if URM37_ENABLED == true
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if (!digitalRead(_echoPin)) return false; // Previous ping hasn't finished, abort.
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_max_time = micros() + _maxEchoTime + MAX_SENSOR_DELAY; // Maximum time we'll wait for ping to start (most sensors are <450uS, the SRF06 can take up to 34,300uS!)
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while (digitalRead(_echoPin)) // Wait for ping to start.
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if (micros() > _max_time) return false; // Took too long to start, abort.
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#else
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if (digitalRead(_echoPin)) return false; // Previous ping hasn't finished, abort.
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_max_time = micros() + _maxEchoTime + MAX_SENSOR_DELAY; // Maximum time we'll wait for ping to start (most sensors are <450uS, the SRF06 can take up to 34,300uS!)
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while (!digitalRead(_echoPin)) // Wait for ping to start.
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if (micros() > _max_time) return false; // Took too long to start, abort.
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#endif
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#endif
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_max_time = micros() + _maxEchoTime; // Ping started, set the time-out.
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return true; // Ping started successfully.
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}
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void NewPing::set_max_distance(unsigned int max_cm_distance) {
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#if ROUNDING_ENABLED == false
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_maxEchoTime = min(max_cm_distance + 1, (unsigned int) MAX_SENSOR_DISTANCE + 1) * US_ROUNDTRIP_CM; // Calculate the maximum distance in uS (no rounding).
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#else
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_maxEchoTime = min(max_cm_distance, (unsigned int) MAX_SENSOR_DISTANCE) * US_ROUNDTRIP_CM + (US_ROUNDTRIP_CM / 2); // Calculate the maximum distance in uS.
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#endif
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}
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#if TIMER_ENABLED == true && DO_BITWISE == true
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// ---------------------------------------------------------------------------
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// Timer interrupt ping methods (won't work with non-AVR, ATmega128 and all ATtiny microcontrollers)
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// ---------------------------------------------------------------------------
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void NewPing::ping_timer(void (*userFunc)(void), unsigned int max_cm_distance) {
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if (max_cm_distance > 0) set_max_distance(max_cm_distance); // Call function to set a new max sensor distance.
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if (!ping_trigger()) return; // Trigger a ping, if it returns false, return without starting the echo timer.
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timer_us(ECHO_TIMER_FREQ, userFunc); // Set ping echo timer check every ECHO_TIMER_FREQ uS.
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}
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boolean NewPing::check_timer() {
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if (micros() > _max_time) { // Outside the time-out limit.
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timer_stop(); // Disable timer interrupt
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return false; // Cancel ping timer.
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}
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#if URM37_ENABLED == false
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if (!(*_echoInput & _echoBit)) { // Ping echo received.
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#else
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if (*_echoInput & _echoBit) { // Ping echo received.
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#endif
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timer_stop(); // Disable timer interrupt
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ping_result = (micros() - (_max_time - _maxEchoTime) - PING_TIMER_OVERHEAD); // Calculate ping time including overhead.
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return true; // Return ping echo true.
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}
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return false; // Return false because there's no ping echo yet.
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}
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// ---------------------------------------------------------------------------
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// Timer2/Timer4 interrupt methods (can be used for non-ultrasonic needs)
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// ---------------------------------------------------------------------------
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// Variables used for timer functions
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void (*intFunc)();
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void (*intFunc2)();
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unsigned long _ms_cnt_reset;
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volatile unsigned long _ms_cnt;
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#if defined(__arm__) && defined(TEENSYDUINO)
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IntervalTimer itimer;
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#endif
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void NewPing::timer_us(unsigned int frequency, void (*userFunc)(void)) {
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intFunc = userFunc; // User's function to call when there's a timer event.
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timer_setup(); // Configure the timer interrupt.
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#if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).
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OCR4C = min((frequency>>2) - 1, 255); // Every count is 4uS, so divide by 4 (bitwise shift right 2) subtract one, then make sure we don't go over 255 limit.
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TIMSK4 = (1<<TOIE4); // Enable Timer4 interrupt.
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#elif defined (__arm__) && defined (TEENSYDUINO) // Timer for Teensy 3.x
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itimer.begin(userFunc, frequency); // Really simple on the Teensy 3.x, calls userFunc every 'frequency' uS.
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#else
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OCR2A = min((frequency>>2) - 1, 255); // Every count is 4uS, so divide by 4 (bitwise shift right 2) subtract one, then make sure we don't go over 255 limit.
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TIMSK2 |= (1<<OCIE2A); // Enable Timer2 interrupt.
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#endif
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}
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void NewPing::timer_ms(unsigned long frequency, void (*userFunc)(void)) {
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intFunc = NewPing::timer_ms_cntdwn; // Timer events are sent here once every ms till user's frequency is reached.
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intFunc2 = userFunc; // User's function to call when user's frequency is reached.
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_ms_cnt = _ms_cnt_reset = frequency; // Current ms counter and reset value.
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timer_setup(); // Configure the timer interrupt.
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#if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).
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OCR4C = 249; // Every count is 4uS, so 1ms = 250 counts - 1.
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TIMSK4 = (1<<TOIE4); // Enable Timer4 interrupt.
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#elif defined (__arm__) && defined (TEENSYDUINO) // Timer for Teensy 3.x
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itimer.begin(NewPing::timer_ms_cntdwn, 1000); // Set timer to 1ms (1000 uS).
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#else
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OCR2A = 249; // Every count is 4uS, so 1ms = 250 counts - 1.
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TIMSK2 |= (1<<OCIE2A); // Enable Timer2 interrupt.
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#endif
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}
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void NewPing::timer_stop() { // Disable timer interrupt.
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#if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).
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TIMSK4 = 0;
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#elif defined (__arm__) && defined (TEENSYDUINO) // Timer for Teensy 3.x
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itimer.end();
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#else
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TIMSK2 &= ~(1<<OCIE2A);
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#endif
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}
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// ---------------------------------------------------------------------------
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// Timer2/Timer4 interrupt method support functions (not called directly)
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// ---------------------------------------------------------------------------
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void NewPing::timer_setup() {
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#if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).
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timer_stop(); // Disable Timer4 interrupt.
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TCCR4A = TCCR4C = TCCR4D = TCCR4E = 0;
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TCCR4B = (1<<CS42) | (1<<CS41) | (1<<CS40) | (1<<PSR4); // Set Timer4 prescaler to 64 (4uS/count, 4uS-1020uS range).
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TIFR4 = (1<<TOV4);
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TCNT4 = 0; // Reset Timer4 counter.
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#elif defined (__AVR_ATmega8__) || defined (__AVR_ATmega16__) || defined (__AVR_ATmega32__) || defined (__AVR_ATmega8535__) // Alternate timer commands for certain microcontrollers.
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timer_stop(); // Disable Timer2 interrupt.
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ASSR &= ~(1<<AS2); // Set clock, not pin.
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TCCR2 = (1<<WGM21 | 1<<CS22); // Set Timer2 to CTC mode, prescaler to 64 (4uS/count, 4uS-1020uS range).
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TCNT2 = 0; // Reset Timer2 counter.
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#elif defined (__arm__) && defined (TEENSYDUINO)
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timer_stop(); // Stop the timer.
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#else
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timer_stop(); // Disable Timer2 interrupt.
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ASSR &= ~(1<<AS2); // Set clock, not pin.
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TCCR2A = (1<<WGM21); // Set Timer2 to CTC mode.
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TCCR2B = (1<<CS22); // Set Timer2 prescaler to 64 (4uS/count, 4uS-1020uS range).
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TCNT2 = 0; // Reset Timer2 counter.
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#endif
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}
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void NewPing::timer_ms_cntdwn() {
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if (!_ms_cnt--) { // Count down till we reach zero.
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intFunc2(); // Scheduled time reached, run the main timer event function.
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_ms_cnt = _ms_cnt_reset; // Reset the ms timer.
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}
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}
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#if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).
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ISR(TIMER4_OVF_vect) {
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intFunc(); // Call wrapped function.
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}
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#elif defined (__AVR_ATmega8__) || defined (__AVR_ATmega16__) || defined (__AVR_ATmega32__) || defined (__AVR_ATmega8535__) // Alternate timer commands for certain microcontrollers.
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ISR(TIMER2_COMP_vect) {
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intFunc(); // Call wrapped function.
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}
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#elif defined (__arm__)
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// Do nothing...
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#else
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ISR(TIMER2_COMPA_vect) {
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intFunc(); // Call wrapped function.
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}
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#endif
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#endif
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// ---------------------------------------------------------------------------
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// Conversion methods (rounds result to nearest cm or inch).
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// ---------------------------------------------------------------------------
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unsigned int NewPing::convert_cm(unsigned int echoTime) {
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#if ROUNDING_ENABLED == false
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return (echoTime / US_ROUNDTRIP_CM); // Convert uS to centimeters (no rounding).
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#else
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return NewPingConvert(echoTime, US_ROUNDTRIP_CM); // Convert uS to centimeters.
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#endif
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}
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unsigned int NewPing::convert_in(unsigned int echoTime) {
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#if ROUNDING_ENABLED == false
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return (echoTime / US_ROUNDTRIP_IN); // Convert uS to inches (no rounding).
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#else
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return NewPingConvert(echoTime, US_ROUNDTRIP_IN); // Convert uS to inches.
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#endif
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}
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