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