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Support for HC-SR04 ultrasonic sensor
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,119 @@ | ||
| // ----------------------------------------------------------------------------- | ||
| // HC-SR04 Ultrasonic sensor | ||
| // Copyright (C) 2018 by Xose Pérez <xose dot perez at gmail dot com> | ||
| // ----------------------------------------------------------------------------- | ||
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| #if SENSOR_SUPPORT && HCSR04_SUPPORT | ||
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| #pragma once | ||
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| #include "Arduino.h" | ||
| #include "BaseSensor.h" | ||
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| class HCSR04Sensor : public BaseSensor { | ||
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| public: | ||
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| // --------------------------------------------------------------------- | ||
| // Public | ||
| // --------------------------------------------------------------------- | ||
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| HCSR04Sensor(): BaseSensor() { | ||
| _count = 1; | ||
| _sensor_id = SENSOR_HCSR04_ID; | ||
| } | ||
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| // --------------------------------------------------------------------- | ||
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| void setEcho(unsigned char echo) { | ||
| _echo = echo; | ||
| } | ||
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| void setTrigger(unsigned char trigger) { | ||
| _trigger = trigger; | ||
| } | ||
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| // --------------------------------------------------------------------- | ||
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| unsigned char getEcho() { | ||
| return _echo; | ||
| } | ||
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| unsigned char getTrigger() { | ||
| return _trigger; | ||
| } | ||
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| // --------------------------------------------------------------------- | ||
| // Sensor API | ||
| // --------------------------------------------------------------------- | ||
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| // Initialization method, must be idempotent | ||
| void begin() { | ||
| pinMode(_echo, INPUT); | ||
| pinMode(_trigger, OUTPUT); | ||
| digitalWrite(_trigger, LOW); | ||
| _ready = true; | ||
| } | ||
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| // Descriptive name of the sensor | ||
| String description() { | ||
| char buffer[24]; | ||
| snprintf(buffer, sizeof(buffer), "HCSR04 @ GPIO(%u, %u)", _trigger, _echo); | ||
| return String(buffer); | ||
| } | ||
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| // Descriptive name of the slot # index | ||
| String slot(unsigned char index) { | ||
| return description(); | ||
| }; | ||
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| // Address of the sensor (it could be the GPIO or I2C address) | ||
| String address(unsigned char index) { | ||
| return String(_trigger); | ||
| } | ||
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| // Type for slot # index | ||
| unsigned char type(unsigned char index) { | ||
| if (index == 0) return MAGNITUDE_DISTANCE; | ||
| return MAGNITUDE_NONE; | ||
| } | ||
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| // Current value for slot # index | ||
| double value(unsigned char index) { | ||
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| if (index == 0) { | ||
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| // Trigger pulse | ||
| digitalWrite(_trigger, HIGH); | ||
| delayMicroseconds(10); | ||
| digitalWrite(_trigger, LOW); | ||
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| // Wait for echo pulse low-high-low | ||
| while ( digitalRead(_echo) == 0 ) yield(); | ||
| unsigned long start = micros(); | ||
| while ( digitalRead(_echo) == 1 ) yield(); | ||
| unsigned long travel_time = micros() - start; | ||
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| // Assuming a speed of sound of 340m/s | ||
| // Dividing by 2 since it is a round trip | ||
| return 340.0 * (double) travel_time / 1000000.0 / 2; | ||
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| } | ||
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| return 0; | ||
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| } | ||
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| protected: | ||
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| // --------------------------------------------------------------------- | ||
| // Protected | ||
| // --------------------------------------------------------------------- | ||
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| unsigned char _trigger; | ||
| unsigned char _echo; | ||
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| }; | ||
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| #endif // SENSOR_SUPPORT && HCSR04_SUPPORT |
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