-// ---------------------------------------------------------------------------

-// Created by Tim Eckel - [email protected]

-//

-// See NewPing.h for license, purpose, syntax, version history, links, etc.

-// ---------------------------------------------------------------------------

-

-#include "NewPing.h"

-

-

-// ---------------------------------------------------------------------------

-// NewPing constructor

-// ---------------------------------------------------------------------------

-

-NewPing::NewPing(uint8_t trigger_pin, uint8_t echo_pin, unsigned int max_cm_distance) {

-#if DO_BITWISE == true

- _triggerBit = digitalPinToBitMask(trigger_pin); // Get the port register bitmask for the trigger pin.

- _echoBit = digitalPinToBitMask(echo_pin); // Get the port register bitmask for the echo pin.

-

- _triggerOutput = portOutputRegister(digitalPinToPort(trigger_pin)); // Get the output port register for the trigger pin.

- _echoInput = portInputRegister(digitalPinToPort(echo_pin)); // Get the input port register for the echo pin.

-

- _triggerMode = (uint8_t *) portModeRegister(digitalPinToPort(trigger_pin)); // Get the port mode register for the trigger pin.

-#else

- _triggerPin = trigger_pin;

- _echoPin = echo_pin;

-#endif

-

- set_max_distance(max_cm_distance); // Call function to set the max sensor distance.

-

-#if (defined (__arm__) && (defined (TEENSYDUINO) || defined(PARTICLE))) || DO_BITWISE != true

- pinMode(echo_pin, INPUT); // Set echo pin to input (on Teensy 3.x (ARM), pins default to disabled, at least one pinMode() is needed for GPIO mode).

- pinMode(trigger_pin, OUTPUT); // Set trigger pin to output (on Teensy 3.x (ARM), pins default to disabled, at least one pinMode() is needed for GPIO mode).

-#endif

-

-#if defined (ARDUINO_AVR_YUN)

- pinMode(echo_pin, INPUT); // Set echo pin to input for the Arduino Yun, not sure why it doesn't default this way.

-#endif

-

-#if ONE_PIN_ENABLED != true && DO_BITWISE == true

- *_triggerMode |= _triggerBit; // Set trigger pin to output.

-#endif

-}

-

-

-// ---------------------------------------------------------------------------

-// Standard ping methods

-// ---------------------------------------------------------------------------

-

-unsigned int NewPing::ping(unsigned int max_cm_distance) {

- if (max_cm_distance > 0) set_max_distance(max_cm_distance); // Call function to set a new max sensor distance.

-

- if (!ping_trigger()) return NO_ECHO; // Trigger a ping, if it returns false, return NO_ECHO to the calling function.

-

-#if URM37_ENABLED == true

- #if DO_BITWISE == true

- while (!(*_echoInput & _echoBit)) // Wait for the ping echo.

- #else

- while (!digitalRead(_echoPin)) // Wait for the ping echo.

- #endif

- if (micros() > _max_time) return NO_ECHO; // Stop the loop and return NO_ECHO (false) if we're beyond the set maximum distance.

-#else

- #if DO_BITWISE == true

- while (*_echoInput & _echoBit) // Wait for the ping echo.

- #else

- while (digitalRead(_echoPin)) // Wait for the ping echo.

- #endif

- if (micros() > _max_time) return NO_ECHO; // Stop the loop and return NO_ECHO (false) if we're beyond the set maximum distance.

-#endif

-

- return (micros() - (_max_time - _maxEchoTime) - PING_OVERHEAD); // Calculate ping time, include overhead.

-}

-

-

-unsigned long NewPing::ping_cm(unsigned int max_cm_distance) {

- unsigned long echoTime = NewPing::ping(max_cm_distance); // Calls the ping method and returns with the ping echo distance in uS.

-#if ROUNDING_ENABLED == false

- return (echoTime / US_ROUNDTRIP_CM); // Call the ping method and returns the distance in centimeters (no rounding).

-#else

- return NewPingConvert(echoTime, US_ROUNDTRIP_CM); // Convert uS to centimeters.

-#endif

-}

-

-

-unsigned long NewPing::ping_in(unsigned int max_cm_distance) {

- unsigned long echoTime = NewPing::ping(max_cm_distance); // Calls the ping method and returns with the ping echo distance in uS.

-#if ROUNDING_ENABLED == false

- return (echoTime / US_ROUNDTRIP_IN); // Call the ping method and returns the distance in inches (no rounding).

-#else

- return NewPingConvert(echoTime, US_ROUNDTRIP_IN); // Convert uS to inches.

-#endif

-}

-

-

-unsigned long NewPing::ping_median(uint8_t it, unsigned int max_cm_distance) {

- unsigned int uS[it], last;

- uint8_t j, i = 0;

- unsigned long t;

- uS[0] = NO_ECHO;

-

- while (i < it) {

- t = micros(); // Start ping timestamp.

- last = ping(max_cm_distance); // Send ping.

-

- if (last != NO_ECHO) { // Ping in range, include as part of median.

- if (i > 0) { // Don't start sort till second ping.

- for (j = i; j > 0 && uS[j - 1] < last; j--) // Insertion sort loop.

- uS[j] = uS[j - 1]; // Shift ping array to correct position for sort insertion.

- } else j = 0; // First ping is sort starting point.

- uS[j] = last; // Add last ping to array in sorted position.

- i++; // Move to next ping.

- } else it--; // Ping out of range, skip and don't include as part of median.

-

- if (i < it && micros() - t < PING_MEDIAN_DELAY)

- delay((PING_MEDIAN_DELAY + t - micros()) / 1000); // Millisecond delay between pings.

-

- }

- return (uS[it >> 1]); // Return the ping distance median.

-}

-

-

-// ---------------------------------------------------------------------------

-// Standard and timer interrupt ping method support functions (not called directly)

-// ---------------------------------------------------------------------------

-

-boolean NewPing::ping_trigger() {

-#if DO_BITWISE == true

- #if ONE_PIN_ENABLED == true

- *_triggerMode |= _triggerBit; // Set trigger pin to output.

- #endif

-

- *_triggerOutput &= ~_triggerBit; // Set the trigger pin low, should already be low, but this will make sure it is.

- delayMicroseconds(4); // Wait for pin to go low.

- *_triggerOutput |= _triggerBit; // Set trigger pin high, this tells the sensor to send out a ping.

- delayMicroseconds(10); // Wait long enough for the sensor to realize the trigger pin is high. Sensor specs say to wait 10uS.

- *_triggerOutput &= ~_triggerBit; // Set trigger pin back to low.

-

- #if ONE_PIN_ENABLED == true

- *_triggerMode &= ~_triggerBit; // Set trigger pin to input (when using one Arduino pin, this is technically setting the echo pin to input as both are tied to the same Arduino pin).

- #endif

-

- #if URM37_ENABLED == true

- if (!(*_echoInput & _echoBit)) return false; // Previous ping hasn't finished, abort.

- _max_time = micros() + _maxEchoTime + MAX_SENSOR_DELAY; // Maximum time we'll wait for ping to start (most sensors are <450uS, the SRF06 can take up to 34,300uS!)

- while (*_echoInput & _echoBit) // Wait for ping to start.

- if (micros() > _max_time) return false; // Took too long to start, abort.

- #else

- if (*_echoInput & _echoBit) return false; // Previous ping hasn't finished, abort.

- _max_time = micros() + _maxEchoTime + MAX_SENSOR_DELAY; // Maximum time we'll wait for ping to start (most sensors are <450uS, the SRF06 can take up to 34,300uS!)

- while (!(*_echoInput & _echoBit)) // Wait for ping to start.

- if (micros() > _max_time) return false; // Took too long to start, abort.

- #endif

-#else

- #if ONE_PIN_ENABLED == true

- pinMode(_triggerPin, OUTPUT); // Set trigger pin to output.

- #endif

-

- digitalWrite(_triggerPin, LOW); // Set the trigger pin low, should already be low, but this will make sure it is.

- delayMicroseconds(4); // Wait for pin to go low.

- digitalWrite(_triggerPin, HIGH); // Set trigger pin high, this tells the sensor to send out a ping.

- delayMicroseconds(10); // Wait long enough for the sensor to realize the trigger pin is high. Sensor specs say to wait 10uS.

- digitalWrite(_triggerPin, LOW); // Set trigger pin back to low.

-

- #if ONE_PIN_ENABLED == true

- pinMode(_triggerPin, INPUT); // Set trigger pin to input (when using one Arduino pin, this is technically setting the echo pin to input as both are tied to the same Arduino pin).

- #endif

-

- #if URM37_ENABLED == true

- if (!digitalRead(_echoPin)) return false; // Previous ping hasn't finished, abort.

- _max_time = micros() + _maxEchoTime + MAX_SENSOR_DELAY; // Maximum time we'll wait for ping to start (most sensors are <450uS, the SRF06 can take up to 34,300uS!)

- while (digitalRead(_echoPin)) // Wait for ping to start.

- if (micros() > _max_time) return false; // Took too long to start, abort.

- #else

- if (digitalRead(_echoPin)) return false; // Previous ping hasn't finished, abort.

- _max_time = micros() + _maxEchoTime + MAX_SENSOR_DELAY; // Maximum time we'll wait for ping to start (most sensors are <450uS, the SRF06 can take up to 34,300uS!)

- while (!digitalRead(_echoPin)) // Wait for ping to start.

- if (micros() > _max_time) return false; // Took too long to start, abort.

- #endif

-#endif

-

- _max_time = micros() + _maxEchoTime; // Ping started, set the time-out.

- return true; // Ping started successfully.

-}

-

-

-void NewPing::set_max_distance(unsigned int max_cm_distance) {

-#if ROUNDING_ENABLED == false

- _maxEchoTime = min(max_cm_distance + 1, (unsigned int) MAX_SENSOR_DISTANCE + 1) * US_ROUNDTRIP_CM; // Calculate the maximum distance in uS (no rounding).

-#else

- _maxEchoTime = min(max_cm_distance, (unsigned int) MAX_SENSOR_DISTANCE) * US_ROUNDTRIP_CM + (US_ROUNDTRIP_CM / 2); // Calculate the maximum distance in uS.

-#endif

-}

-

-

-#if TIMER_ENABLED == true && DO_BITWISE == true

-

- // ---------------------------------------------------------------------------

- // Timer interrupt ping methods (won't work with ATmega128, ATtiny and most non-AVR microcontrollers)

- // ---------------------------------------------------------------------------

-

- void NewPing::ping_timer(void (*userFunc)(void), unsigned int max_cm_distance) {

- if (max_cm_distance > 0) set_max_distance(max_cm_distance); // Call function to set a new max sensor distance.

-

- if (!ping_trigger()) return; // Trigger a ping, if it returns false, return without starting the echo timer.

- timer_us(ECHO_TIMER_FREQ, userFunc); // Set ping echo timer check every ECHO_TIMER_FREQ uS.

- }

-

-

- boolean NewPing::check_timer() {

- if (micros() > _max_time) { // Outside the time-out limit.

- timer_stop(); // Disable timer interrupt

- return false; // Cancel ping timer.

- }

-

- #if URM37_ENABLED == false

- if (!(*_echoInput & _echoBit)) { // Ping echo received.

- #else

- if (*_echoInput & _echoBit) { // Ping echo received.

- #endif

- timer_stop(); // Disable timer interrupt

- ping_result = (micros() - (_max_time - _maxEchoTime) - PING_TIMER_OVERHEAD); // Calculate ping time including overhead.

- return true; // Return ping echo true.

- }

-

- return false; // Return false because there's no ping echo yet.

- }

-

-

- // ---------------------------------------------------------------------------

- // Timer2/Timer4 interrupt methods (can be used for non-ultrasonic needs)

- // ---------------------------------------------------------------------------

-

- // Variables used for timer functions

- void (*intFunc)();

- void (*intFunc2)();

- unsigned long _ms_cnt_reset;

- volatile unsigned long _ms_cnt;

- #if defined(__arm__) && (defined (TEENSYDUINO) || defined(PARTICLE))

- IntervalTimer itimer;

- #endif

-

-

- void NewPing::timer_us(unsigned int frequency, void (*userFunc)(void)) {

- intFunc = userFunc; // User's function to call when there's a timer event.

- timer_setup(); // Configure the timer interrupt.

-

- #if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).

- OCR4C = min((frequency>>2) - 1, 255); // Every count is 4uS, so divide by 4 (bitwise shift right 2) subtract one, then make sure we don't go over 255 limit.

- TIMSK4 = (1<<TOIE4); // Enable Timer4 interrupt.

- #elif defined (__arm__) && defined (TEENSYDUINO) // Timer for Teensy 3.x

- itimer.begin(userFunc, frequency); // Really simple on the Teensy 3.x, calls userFunc every 'frequency' uS.

- #elif defined (__arm__) && defined (PARTICLE) // Timer for Particle devices

- itimer.begin(userFunc, frequency, uSec); // Really simple on the Particle, calls userFunc every 'frequency' uS.

- #else

- OCR2A = min((frequency>>2) - 1, 255); // Every count is 4uS, so divide by 4 (bitwise shift right 2) subtract one, then make sure we don't go over 255 limit.

- TIMSK2 |= (1<<OCIE2A); // Enable Timer2 interrupt.

- #endif

- }

-

-

- void NewPing::timer_ms(unsigned long frequency, void (*userFunc)(void)) {

- intFunc = NewPing::timer_ms_cntdwn; // Timer events are sent here once every ms till user's frequency is reached.

- intFunc2 = userFunc; // User's function to call when user's frequency is reached.

- _ms_cnt = _ms_cnt_reset = frequency; // Current ms counter and reset value.

- timer_setup(); // Configure the timer interrupt.

-

- #if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).

- OCR4C = 249; // Every count is 4uS, so 1ms = 250 counts - 1.

- TIMSK4 = (1<<TOIE4); // Enable Timer4 interrupt.

- #elif defined (__arm__) && defined (TEENSYDUINO) // Timer for Teensy 3.x

- itimer.begin(NewPing::timer_ms_cntdwn, 1000); // Set timer to 1ms (1000 uS).

- #elif defined (__arm__) && defined (PARTICLE) // Timer for Particle

- itimer.begin(NewPing::timer_ms_cntdwn, 1000, uSec); // Set timer to 1ms (1000 uS).

- #else

- OCR2A = 249; // Every count is 4uS, so 1ms = 250 counts - 1.

- TIMSK2 |= (1<<OCIE2A); // Enable Timer2 interrupt.

- #endif

- }

-

-

- void NewPing::timer_stop() { // Disable timer interrupt.

- #if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).

- TIMSK4 = 0;

- #elif defined (__arm__) && (defined (TEENSYDUINO) || defined (PARTICLE)) // Timer for Teensy 3.x & Particle

- itimer.end();

- #else

- TIMSK2 &= ~(1<<OCIE2A);

- #endif

- }

-

-

- // ---------------------------------------------------------------------------

- // Timer2/Timer4 interrupt method support functions (not called directly)

- // ---------------------------------------------------------------------------

-

- void NewPing::timer_setup() {

- #if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).

- timer_stop(); // Disable Timer4 interrupt.

- TCCR4A = TCCR4C = TCCR4D = TCCR4E = 0;

- TCCR4B = (1<<CS42) | (1<<CS41) | (1<<CS40) | (1<<PSR4); // Set Timer4 prescaler to 64 (4uS/count, 4uS-1020uS range).

- TIFR4 = (1<<TOV4);

- TCNT4 = 0; // Reset Timer4 counter.

- #elif defined (__AVR_ATmega8__) || defined (__AVR_ATmega16__) || defined (__AVR_ATmega32__) || defined (__AVR_ATmega8535__) // Alternate timer commands for certain microcontrollers.

- timer_stop(); // Disable Timer2 interrupt.

- ASSR &= ~(1<<AS2); // Set clock, not pin.

- TCCR2 = (1<<WGM21 | 1<<CS22); // Set Timer2 to CTC mode, prescaler to 64 (4uS/count, 4uS-1020uS range).

- TCNT2 = 0; // Reset Timer2 counter.

- #elif defined (__arm__) && (defined (TEENSYDUINO) || defined (PARTICLE))

- timer_stop(); // Stop the timer.

- #else

- timer_stop(); // Disable Timer2 interrupt.

- ASSR &= ~(1<<AS2); // Set clock, not pin.

- TCCR2A = (1<<WGM21); // Set Timer2 to CTC mode.

- TCCR2B = (1<<CS22); // Set Timer2 prescaler to 64 (4uS/count, 4uS-1020uS range).

- TCNT2 = 0; // Reset Timer2 counter.

- #endif

- }

-

-

- void NewPing::timer_ms_cntdwn() {

- if (!_ms_cnt--) { // Count down till we reach zero.

- intFunc2(); // Scheduled time reached, run the main timer event function.

- _ms_cnt = _ms_cnt_reset; // Reset the ms timer.

- }

- }

-

- #if defined (__AVR_ATmega32U4__) // Use Timer4 for ATmega32U4 (Teensy/Leonardo).

- ISR(TIMER4_OVF_vect) {

- intFunc(); // Call wrapped function.

- }

- #elif defined (__AVR_ATmega8__) || defined (__AVR_ATmega16__) || defined (__AVR_ATmega32__) || defined (__AVR_ATmega8535__) // Alternate timer commands for certain microcontrollers.

- ISR(TIMER2_COMP_vect) {

- intFunc(); // Call wrapped function.

- }

- #elif defined (__arm__)

- // Do nothing...

- #else

- ISR(TIMER2_COMPA_vect) {

- intFunc(); // Call wrapped function.

- }

- #endif

-

-

-#endif

-

-

-// ---------------------------------------------------------------------------

-// Conversion methods (rounds result to nearest cm or inch).

-// ---------------------------------------------------------------------------

-

-unsigned int NewPing::convert_cm(unsigned int echoTime) {

-#if ROUNDING_ENABLED == false

- return (echoTime / US_ROUNDTRIP_CM); // Convert uS to centimeters (no rounding).

-#else

- return NewPingConvert(echoTime, US_ROUNDTRIP_CM); // Convert uS to centimeters.

-#endif

-}

-

-

-unsigned int NewPing::convert_in(unsigned int echoTime) {

-#if ROUNDING_ENABLED == false

- return (echoTime / US_ROUNDTRIP_IN); // Convert uS to inches (no rounding).

-#else

- return NewPingConvert(echoTime, US_ROUNDTRIP_IN); // Convert uS to inches.

-#endif

-}