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/*
* Octave arduino ultrasonic interface
* Copyright (C) 2019 John Donoghue <john.donoghue@ieee.org>
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "settings.h"
#include "OctaveUltrasonicLibrary.h"
#define ARDUINO_CONFIG_ULTRASONIC 1
#define ARDUINO_READ_ULTRASONIC 2
static const char ERRORMSG_CANT_READ[] PROGMEM = "Max ultrasonics reached";
#ifdef USE_ULTRASONIC
#define MAX_ULTRASONICS 4
class Ultrasonic
{
#define USED 1
public:
uint8_t flags;
uint8_t pins[2];
uint8_t state;
Ultrasonic ();
uint8_t init (uint8_t p1, uint8_t p2);
uint8_t free () { flags = 0; return 0;}
uint32_t read ();
};
Ultrasonic::Ultrasonic ()
{
flags = 0;
}
uint8_t
Ultrasonic::init (uint8_t p1, uint8_t p2=0xff)
{
flags = USED;
pins[0] = p1;
pins[1] = p2;
if(p1 == p2)
pins[1] = 0xff;
pinMode (pins[0], OUTPUT);
digitalWrite (pins[0], LOW);
if (pins[1] != 0xff)
{
pinMode (pins[1], INPUT);
digitalWrite (pins[1], LOW);
}
return 0;
}
uint32_t
Ultrasonic::read ()
{
uint32_t duration;
digitalWrite (pins[0], LOW);
delayMicroseconds (5);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite (pins[0], HIGH);
delayMicroseconds (10);
digitalWrite (pins[0], LOW);
if (pins[1] == 0xff)
{
pinMode (pins[0], INPUT);
duration = pulseIn(pins[0], HIGH, 250);
pinMode (pins[0], OUTPUT);
}
else
{
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn (pins[1], HIGH); //, 250);
}
return duration;
}
static Ultrasonic ultrasonics[MAX_ULTRASONICS];
Ultrasonic *
getUltrasonic (uint8_t id)
{
uint8_t i;
Ultrasonic * unused = 0;
for (i=0; i<MAX_ULTRASONICS; i++)
{
if (ultrasonics[i].flags)
{
if (ultrasonics[i].pins[0] == id)
return &ultrasonics[i];
}
else if (!unused)
{
unused = &ultrasonics[i];
}
}
return unused;
}
#endif
OctaveUltrasonicLibrary::OctaveUltrasonicLibrary (OctaveArduinoClass &oc)
{
libName = "Ultrasonic";
oc.registerLibrary (this);
}
void
OctaveUltrasonicLibrary::commandHandler (uint8_t cmdID, uint8_t* data, uint8_t datasz)
{
switch (cmdID)
{
#ifdef USE_ULTRASONIC
case ARDUINO_CONFIG_ULTRASONIC:
{
// 0 = id/triggerpin
// 1 - enable/alloc
// 2 = echo pin (optional)
Ultrasonic * reg = getUltrasonic (data[0]);
if (reg)
{
// alloc
if (data[1] == 1 && datasz == 2)
{
reg->init (data[0]);
sendResponseMsg (cmdID,data, 2);
}
else if(data[1] == 1 && datasz == 3)
{
reg->init (data[0], data[2]);
sendResponseMsg (cmdID,data, 2);
}
// free
else if (data[1] == 0 && reg->flags && datasz == 2)
{
reg->free ();
sendResponseMsg(cmdID,data, 2);
}
else
{
sendErrorMsg_P (ERRORMSG_INVALID_ARGS);
}
}
else
{
sendErrorMsg_P (ERRORMSG_INVALID_ARGS);
}
break;
}
case ARDUINO_READ_ULTRASONIC:
{
// 0 = id
Ultrasonic * reg = getUltrasonic (data[0]);
if (reg && datasz == 1)
{
uint32_t v = reg->read ();
data[1] = (v>>24)&0xff;
data[2] = (v>>16)&0xff;
data[3] = (v>>8)&0xff;
data[4] = (v)&0xff;
datasz = 5;
sendResponseMsg (cmdID, data, datasz);
}
else
{
sendErrorMsg_P (ERRORMSG_INVALID_ARGS);
}
break;
}
#endif
default:
sendUnknownCmdIDMsg ();
break;
}
}
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