NewPing.h
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00001 // ---------------------------------------------------------------------------
00002 // NewPing Library - v1.5 - 08/15/2012
00003 //
00004 // AUTHOR/LICENSE:
00005 // Created by Tim Eckel - teckel@leethost.com
00006 // Copyright 2012 License: GNU GPL v3 http://www.gnu.org/licenses/gpl-3.0.html
00007 //
00008 // LINKS:
00009 // Project home: http://code.google.com/p/arduino-new-ping/
00010 // Blog: http://arduino.cc/forum/index.php/topic,106043.0.html
00011 //
00012 // DISCLAIMER:
00013 // This software is furnished "as is", without technical support, and with no 
00014 // warranty, express or implied, as to its usefulness for any purpose.
00015 //
00016 // BACKGROUND:
00017 // When I first received an ultrasonic sensor I was not happy with how poorly
00018 // it worked. Quickly I realized the problem wasn't the sensor, it was the
00019 // available ping and ultrasonic libraries causing the problem. The NewPing
00020 // library totally fixes these problems, adds many new features, and breaths
00021 // new life into these very affordable distance sensors. 
00022 //
00023 // FEATURES:
00024 // * Works with many different ultrasonic sensor models: SR04, SRF05, SRF06, DYP-ME007 & Parallax PING)))™.
00025 // * Interface with all but the SRF06 sensor using only one Arduino pin.
00026 // * Doesn't lag for a full second if no ping/echo is received.
00027 // * Ping sensors consistently and reliably at up to 30 times per second.
00028 // * Timer interrupt method for event-driven sketches.
00029 // * Built-in digital filter method ping_median() for easy error correction.
00030 // * Uses port registers for a faster pin interface and smaller code size.
00031 // * Allows you to set a maximum distance where pings beyond that distance are read as no ping "clear".
00032 // * Ease of using multiple sensors (example sketch with 15 sensors).
00033 // * More accurate distance calculation (cm, inches & uS).
00034 // * Doesn't use pulseIn, which is slow and gives incorrect results with some ultrasonic sensor models.
00035 // * Actively developed with features being added and bugs/issues addressed.
00036 //
00037 // CONSTRUCTOR:
00038 //   NewPing sonar(trigger_pin, echo_pin [, max_cm_distance])
00039 //     trigger_pin & echo_pin - Arduino pins connected to sensor trigger and echo.
00040 //       NOTE: To use the same Arduino pin for trigger and echo, specify the same pin for both values.
00041 //     max_cm_distance - [Optional] Maximum distance you wish to sense. Default=500cm.
00042 //
00043 // SYNTAX:
00044 //   sonar.ping() - Send a ping and get the echo time (in microseconds) as a result. 
00045 //   sonar.ping_in() - Send a ping and get the distance in whole inches.
00046 //   sonar.ping_cm() - Send a ping and get the distance in whole centimeters.
00047 //   sonar.ping_median(iterations) - Do multiple pings (default=5), discard out of range pings and return median in microseconds. 
00048 //   sonar.convert_in(echoTime) - Convert echoTime from microseconds to inches (rounds to nearest inch).
00049 //   sonar.convert_cm(echoTime) - Convert echoTime from microseconds to centimeters (rounds to nearest cm).
00050 //   sonar.ping_timer(function) - Send a ping and call function to test if ping is complete.
00051 //   sonar.check_timer() - Check if ping has returned within the set distance limit.
00052 //   NewPing::timer_us(frequency, function) - Call function every frequency microseconds.
00053 //   NewPing::timer_ms(frequency, function) - Call function every frequency milliseconds.
00054 //   NewPing::timer_stop() - Stop the timer.
00055 //
00056 // HISTORY:
00057 // 08/15/2012 v1.5 - Added ping_median() method which does a user specified
00058 //   number of pings (default=5) and returns the median ping in microseconds
00059 //   (out of range pings ignored). This is a very effective digital filter.
00060 //   Optimized for smaller compiled size (even smaller than skteches that
00061 //   don't use a library).
00062 //
00063 // 07/14/2012 v1.4 - Added support for the Parallax PING)))™ sensor. Interface
00064 //   with all but the SRF06 sensor using only one Arduino pin. You can also
00065 //   interface with the SRF06 using one pin if you install a 0.1uf capacitor
00066 //   on the trigger and echo pins of the sensor then tie the trigger pin to
00067 //   the Arduino pin (doesn't work with Teensy). To use the same Arduino pin
00068 //   for trigger and echo, specify the same pin for both values. Various bug
00069 //   fixes.
00070 //
00071 // 06/08/2012 v1.3 - Big feature addition, event-driven ping! Uses Timer2
00072 //   interrupt, so be mindful of PWM or timing conflicts messing with Timer2
00073 //   may cause (namely PWM on pins 3 & 11 on Arduino, PWM on pins 9 and 10 on
00074 //   Mega, and Tone library). Simple to use timer interrupt functions you can
00075 //   use in your sketches totaly unrelated to ultrasonic sensors (don't use if
00076 //   you're also using NewPing's ping_timer because both use Timer2 interrupts).
00077 //   Loop counting ping method deleted in favor of timing ping method after
00078 //   inconsistant results kept surfacing with the loop timing ping method.
00079 //   Conversion to cm and inches now rounds to the nearest cm or inch. Code
00080 //   optimized to save program space and fixed a couple minor bugs here and
00081 //   there. Many new comments added as well as line spacing to group code
00082 //   sections for better source readability.
00083 //
00084 // 05/25/2012 v1.2 - Lots of code clean-up thanks to Adruino Forum members.
00085 //   Rebuilt the ping timing code from scratch, ditched the pulseIn code as it
00086 //   doesn't give correct results (at least with ping sensors). The NewPing
00087 //   library is now VERY accurate and the code was simplified as a bonus.
00088 //   Smaller and faster code as well. Fixed some issues with very close ping
00089 //   results when converting to inches. All functions now return 0 only when
00090 //   there's no ping echo (out of range) and a positive value for a successful
00091 //   ping. This can effectively be used to detect if something is out of range
00092 //   or in-range and at what distance. Now compatible with Arduino 0023.
00093 //
00094 // 05/16/2012 v1.1 - Changed all I/O functions to use low-level port registers
00095 //   for ultra-fast and lean code (saves from 174 to 394 bytes). Tested on both
00096 //   the Arduino Uno and Teensy 2.0 but should work on all Arduino-based
00097 //   platforms because it calls standard functions to retrieve port registers
00098 //   and bit masks. Also made a couple minor fixes to defines.
00099 //
00100 // 05/15/2012 v1.0 - Initial release.
00101 // ---------------------------------------------------------------------------
00102 
00103 #ifndef NewPing_h
00104 #define NewPing_h
00105 
00106 #if defined(ARDUINO) && ARDUINO >= 100
00107         #include <Arduino.h>
00108 #else
00109         #include <WProgram.h>
00110         #include <pins_arduino.h>
00111 #endif
00112 
00113 #include <avr/io.h>
00114 #include <avr/interrupt.h>
00115 
00116 // Shoudln't need to changed these values unless you have a specific need to do so.
00117 #define MAX_SENSOR_DISTANCE 500 // Maximum sensor distance can be as high as 500cm, no reason to wait for ping longer than sound takes to travel this distance and back.
00118 #define US_ROUNDTRIP_IN 146     // Microseconds (uS) it takes sound to travel round-trip 1 inch (2 inches total), uses integer to save compiled code space.
00119 #define US_ROUNDTRIP_CM 57      // Microseconds (uS) it takes sound to travel round-trip 1cm (2cm total), uses integer to save compiled code space.
00120 #define DISABLE_ONE_PIN false   // Set to "true" to save up to 26 bytes of compiled code space if you're not using one pin sensor connections.
00121 
00122 // Probably shoudln't change these values unless you really know what you're doing.
00123 #define NO_ECHO 0               // Value returned if there's no ping echo within the specified MAX_SENSOR_DISTANCE or max_cm_distance.
00124 #define MAX_SENSOR_DELAY 18000  // Maximum uS it takes for sensor to start the ping (SRF06 is the highest measured, just under 18ms).
00125 #define ECHO_TIMER_FREQ 24      // Frequency to check for a ping echo (every 24uS is about 0.4cm accuracy).
00126 #define PING_MEDIAN_DELAY 29    // Millisecond delay between pings in the ping_median method.
00127 
00128 // Conversion from uS to distance (round result to nearest cm or inch).
00129 #define NewPingConvert(echoTime, conversionFactor) (max((echoTime + conversionFactor / 2) / conversionFactor, (echoTime ? 1 : 0)))
00130 
00131 
00132 class NewPing {
00133         public:
00134                 NewPing(uint8_t trigger_pin, uint8_t echo_pin, int max_cm_distance = MAX_SENSOR_DISTANCE);
00135                 unsigned int ping();
00136                 unsigned int ping_in();
00137                 unsigned int ping_cm();
00138                 unsigned int ping_median(uint8_t it = 5);
00139                 unsigned int convert_in(unsigned int echoTime);
00140                 unsigned int convert_cm(unsigned int echoTime);
00141                 void ping_timer(void (*userFunc)(void));
00142                 boolean check_timer();
00143                 unsigned long ping_result;
00144                 static void timer_us(unsigned int frequency, void (*userFunc)(void));
00145                 static void timer_ms(unsigned long frequency, void (*userFunc)(void));
00146                 static void timer_stop();
00147         private:
00148                 boolean ping_trigger();
00149                 boolean ping_wait_timer();
00150                 uint8_t _triggerBit;
00151                 uint8_t _echoBit;
00152                 volatile uint8_t *_triggerOutput;
00153                 volatile uint8_t *_triggerMode;
00154                 volatile uint8_t *_echoInput;
00155                 unsigned int _maxEchoTime;
00156                 unsigned long _max_time;
00157                 static void timer_setup();
00158                 static void timer_ms_cntdwn();
00159 };
00160 
00161 
00162 #endif


segbot_firmware
Author(s): Jose Bigio, Jack O'Quin, Tim Eckel (NewPing library)
autogenerated on Thu Jun 6 2019 21:37:01