mirror of
https://github.com/RobTillaart/Arduino.git
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207 lines
3.5 KiB
C++
207 lines
3.5 KiB
C++
//
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// FILE: SRF05.cpp
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// AUTHOR: Rob Tillaart
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// VERSION: 0.1.2
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// DATE: 2021-05-17
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// PURPOSE: Arduino library for the SRF05 distance sensor (and compatibles)
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// URL: https://github.com/RobTillaart/SRF05
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//
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// HISTORY:
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// 0.1.0 2021-05-17 initial version
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// 0.1.1 2021-11-18 update build-CI,
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// update readme.md, minor edits
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// 0.1.2 2021-12-28 update library.json, license, minor edits
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#include "SRF05.h"
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/////////////////////////////////////////////////////
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//
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// CONSTRUCTORS
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//
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SRF05::SRF05(const uint8_t trigger, const uint8_t echo, const uint8_t out)
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{
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_trigger = trigger;
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_echo = echo;
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_out = out;
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_mode = 0;
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pinMode(_trigger, OUTPUT);
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digitalWrite(_trigger, LOW);
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pinMode(_echo, INPUT);
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}
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void SRF05::setSpeedOfSound(float sos)
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{
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_speedOfSound = sos;
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}
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float SRF05::getSpeedOfSound()
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{
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return _speedOfSound;
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}
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//////////////////////////////////////////////////
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void SRF05::setModeSingle()
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{
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_mode = 0x00;
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_count = 1;
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}
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void SRF05::setModeAverage(uint8_t count)
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{
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_mode = 0x01;
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_count = count;
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}
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void SRF05::setModeMedian(uint8_t count)
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{
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_mode = 0x02;
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_count = count;
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if (_count < 3) _count = 3;
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if (_count > 15) _count = 15;
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}
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void SRF05::setModeRunningAverage(float alpha)
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{
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_mode = 0x03;
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_count = 1;
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_alpha = alpha;
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}
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uint8_t SRF05::getOperationalMode()
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{
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return _mode;
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}
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//////////////////////////////////////////////////
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uint32_t SRF05::getTime()
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{
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switch(_mode)
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{
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default:
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case 0x00:
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return _read();
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case 0x01:
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{
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float sum = 0;
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for (uint8_t s = 0; s < _count; s++)
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{
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sum += _read();
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delay(1);
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}
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return round(sum / _count);
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}
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case 0x02:
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{
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uint32_t samples[15];
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for (uint8_t s = 0; s < _count; s++)
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{
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samples[s] = _read();
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delay(1);
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}
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_insertSort(samples, _count);
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if (_count & 0x01) return samples[_count / 2];
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return (samples[(_count + 1) / 2] + samples[_count / 2]) / 2;
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}
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case 0x03:
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_value = (1 - _alpha) * _value + _alpha * _read();
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return _value;
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}
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}
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uint32_t SRF05::getMillimeter()
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{
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return _speedOfSound * getTime() * 0.5e-3;
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}
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float SRF05::getCentimeter()
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{
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return _speedOfSound * getTime() * 0.5e-4;
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}
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float SRF05::getMeter()
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{
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return _speedOfSound * getTime() * 0.5e-6;
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}
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float SRF05::getInch()
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{
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return _speedOfSound * getTime() * 1.9685e-5;
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}
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float SRF05::getFeet()
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{
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return _speedOfSound * getTime() * 1.64042e-6;
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}
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// assumes a distance of 1.00 meter
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// typically use 100 or 500 meter for distance to calibrate
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float SRF05::determineSpeedOfSound(uint16_t distance)
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{
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float sum = 0;
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for (uint16_t i = 0; i < distance; i++)
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{
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sum += _read();
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delay(1);
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}
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float sos = 2e6 * distance / sum;
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return sos;
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}
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//////////////////////////////////////////////////
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//
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// private
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//
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uint32_t SRF05::_read()
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{
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digitalWrite(_trigger, HIGH);
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delayMicroseconds(_triggerLength);
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digitalWrite(_trigger, LOW);
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uint32_t duration = pulseIn(_echo, HIGH, 300000);
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if (_correctionFactor == 1)
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{
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return duration;
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}
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return round(duration * _correctionFactor);
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}
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void SRF05::_insertSort(uint32_t * array, uint8_t size)
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{
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uint8_t t, z;
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uint32_t temp;
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for (t = 1; t < size; t++)
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{
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z = t;
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temp = array[z];
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while( (z > 0) && (temp < array[z - 1] ))
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{
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array[z] = array[z - 1];
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z--;
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}
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array[z] = temp;
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yield();
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}
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}
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// -- END OF FILE --
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