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HCSR04 Class Reference

#include <HCSR04.hh>

Inheritance diagram for HCSR04:
Inheritance graph
Collaboration diagram for HCSR04:
Collaboration graph

Public Member Functions

 HCSR04 (Job::Scheduler *scheduler, Board::DigitalPin trigger, Board::DigitalPin echo)
 
uint16_t distance () const
 
bool read (uint16_t &distance)
 
void schedule (uint16_t ms)
 
virtual void on_change (uint16_t distance)
 
void period (uint32_t time)
 
uint32_t period () const
 
void reschedule ()
 
void expire_at (uint32_t time)
 
uint32_t expire_at () const
 
void expire_after (uint32_t time)
 
int32_t expire_after () const
 
uint32_t time () const
 
bool is_started () const
 
bool start ()
 
bool stop ()
 
virtual void on_expired ()
 
virtual void run ()
 
void detach ()
 
Linkage * succ () const
 
Linkage * pred () const
 
void attach (Linkage *pred)
 

Protected Attributes

uint32_t m_period
 
uint32_t m_expires
 
Scheduler * m_scheduler
 
Linkage * m_succ
 
Linkage * m_pred
 

Detailed Description

Device driver for Ultrasonic range module HC-SR04. Subclass and implement the change event handler, on_change(). Attach to a scheduler to perform periodic read and check of change.

Circuit

HC-SR04
+------------+
(VCC)---------------1-|VCC |
(D2)----------------2-|TRIG |
(D3) ---------------3-|ECHO |
(GND)---------------4-|GND |
+------------+

Connect HC-SR04 module to echo and trigger pin, and VCC and ground.

Limitations

The driver will turn off interrupt handling during data read from the device.

Definition at line 52 of file HCSR04.hh.

Constructor & Destructor Documentation

HCSR04::HCSR04 ( Job::Scheduler *  scheduler,
Board::DigitalPin  trigger,
Board::DigitalPin  echo 
)
inline

Construct connection to a HC-SR04 device on given in/output-pin.

Parameters
[in]triggertrigger pin.
[in]echoecho pin.

Definition at line 59 of file HCSR04.hh.

Member Function Documentation

void Linkage::attach ( Linkage *  pred)
inlineinherited

Attach given linkage as predecessor. Will check and detach if already attached.

Parameters
[in]predlinkage to attach.
Note
atomic

Definition at line 71 of file Linkage.hh.

void Link::detach ( )
inlineinherited

Detach this link. Unlink from any list.

Definition at line 125 of file Linkage.hh.

uint16_t HCSR04::distance ( ) const
inline

Latest distance reading.

Returns
distance in millimeters.

Definition at line 72 of file HCSR04.hh.

void Job::expire_after ( uint32_t  time)
inlineinherited

Set expire time relative to latest expire time.

Parameters
[in]timeto add to latest expire time.

Definition at line 111 of file Job.hh.

int32_t Job::expire_after ( ) const
inlineinherited

Get time remaining before expired.

Returns
time.

Definition at line 129 of file Job.hh.

void Job::expire_at ( uint32_t  time)
inlineinherited

Set expire time. Absolute time in scheduler time unit.

Parameters
[in]timeto expire.

Definition at line 102 of file Job.hh.

uint32_t Job::expire_at ( ) const
inlineinherited

Get expire time.

Returns
time.

Definition at line 120 of file Job.hh.

bool Job::is_started ( ) const
inlineinherited

Return true(1) if the job is queued otherwise false(0).

Returns
bool.

Definition at line 149 of file Job.hh.

virtual void HCSR04::on_change ( uint16_t  distance)
inlinevirtual

Default on change function. Override for callback when the distance has changed.

Parameters
[in]distancein milli-meters.

Definition at line 105 of file HCSR04.hh.

virtual void Job::on_expired ( )
inlinevirtualinherited

Job member function that is called Scheduler::dispatch() when the job time has expired. This function is normally called from an interrupt service routine. The default implementation will push a timeout event with the job as target. The default event handler will call the job run() virtual member function. Override this function if the job should be executed during the interrupt service routine.

Definition at line 185 of file Job.hh.

void Periodic::period ( uint32_t  time)
inlineinherited

Set timeout period.

Parameters
[in]timeperiod of timeout.

Definition at line 57 of file Periodic.hh.

uint32_t Periodic::period ( ) const
inlineinherited

Get timeout period.

Returns
period of timeout.

Definition at line 67 of file Periodic.hh.

Linkage* Linkage::pred ( ) const
inlineinherited

Return predecessor in sequence.

Returns
predecessor linkage.

Definition at line 60 of file Linkage.hh.

bool HCSR04::read ( uint16_t &  distance)

Read distance in millimeter from device. Return true(1) if successful otherwise false(0).

Parameters
[out]distancereading.
Returns
bool.

Definition at line 24 of file HCSR04.cpp.

void Periodic::reschedule ( )
inlineinherited

Reschedule after a new period.

Definition at line 76 of file Periodic.hh.

virtual void Job::run ( )
inlinevirtualinherited

The job run() virtual member function; sub-class should define. Called by the scheduler (via event handler) when the time expires. May set an new expire time and start the job again, or even start other jobs.

Reimplemented in Button, Keypad, and Touch.

Definition at line 210 of file Job.hh.

void HCSR04::schedule ( uint16_t  ms)
inline

Schedule periodic reading with the given time period in milli- seconds.

Parameters
[in]msmilli-second sample period.

Definition at line 90 of file HCSR04.hh.

bool Job::start ( )
inlineinherited

Start the job. Returns true(1) if scheduled otherwise false(0).

Returns
bool.

Definition at line 159 of file Job.hh.

bool Job::stop ( )
inlineinherited

Stop the job. Returns true(1) if scheduled otherwise false(0).

Returns
bool.

Definition at line 169 of file Job.hh.

Linkage* Linkage::succ ( ) const
inlineinherited

Return successor in sequence.

Returns
successor linkage.

Definition at line 51 of file Linkage.hh.

uint32_t Job::time ( ) const
inlineinherited

Get current scheduler time. May be used to set relative expire time.

Returns
time.

Definition at line 139 of file Job.hh.

Member Data Documentation

uint32_t Job::m_expires
protectedinherited

Expire time. Scale (us, ms, s) depends on scheduler.

Definition at line 214 of file Job.hh.

uint32_t Periodic::m_period
protectedinherited

Time period. Time unit is defined by the scheduler.

Definition at line 100 of file Periodic.hh.

Linkage* Linkage::m_pred
protectedinherited

Definition at line 94 of file Linkage.hh.

Scheduler* Job::m_scheduler
protectedinherited

Job scheduler.

Definition at line 217 of file Job.hh.

Linkage* Linkage::m_succ
protectedinherited

Double linked list pointers.

Definition at line 93 of file Linkage.hh.

The documentation for this class was generated from the following files: