+// ---------------------------------------------------------------------------

+// NewPing Library - v1.9.4 - 01/26/2022

+//

+// AUTHOR/LICENSE:

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

+// Copyright 2022 License: Forks and derivitive works are NOT permitted without

+// permission. Permission is only granted to use as-is for private and

+// commercial use. If you wish to contribute, make changes, or enhancements,

+// please create a pull request. I get a lot of support issues from this

+// library, most of which comes from old versions, buggy forks or sites without

+// proper documentation, just trying to wrangle this project together.

+//

+// LINKS:

+// Project home: https://bitbucket.org/teckel12/arduino-new-ping/wiki/Home

+// Support: https://bitbucket.org/teckel12/arduino-new-ping/issues?status=new&status=open

+//

+// DISCLAIMER:

+// This software is furnished "as is", without technical support, and with no

+// warranty, express or implied, as to its usefulness for any purpose.

+//

+// BACKGROUND:

+// When I first received an ultrasonic sensor I was not happy with how poorly

+// it worked. Quickly I realized the problem wasn't the sensor, it was the

+// available ping and ultrasonic libraries causing the problem. The NewPing

+// library totally fixes these problems, adds many new features, and breaths

+// new life into these very affordable distance sensors.

+//

+// FEATURES:

+// * Works with many different ultrasonic sensors: SR04, SRF05, SRF06, DYP-ME007, URM37 & Parallax PING)))™.

+// * Compatible with the entire Arduino line-up (and clones), Teensy family (including $19.80 96Mhz 32 bit Teensy 3.2) and non-AVR microcontrollers.

+// * Interface with all but the SRF06 sensor using only one Arduino pin.

+// * Doesn't lag for a full second if no ping/echo is received.

+// * Ping sensors consistently and reliably at up to 30 times per second.

+// * Timer interrupt method for event-driven sketches.

+// * Built-in digital filter method ping_median() for easy error correction.

+// * Uses port registers for a faster pin interface and smaller code size.

+// * Allows you to set a maximum distance where pings beyond that distance are read as no ping "clear".

+// * Ease of using multiple sensors (example sketch with 15 sensors).

+// * More accurate distance calculation (cm, inches & uS).

+// * Doesn't use pulseIn, which is slow and gives incorrect results with some ultrasonic sensor models.

+// * Actively developed with features being added and bugs/issues addressed.

+//

+// CONSTRUCTOR:

+// NewPing sonar(trigger_pin, echo_pin [, max_cm_distance])

+// trigger_pin & echo_pin - Arduino pins connected to sensor trigger and echo.

+// NOTE: To use the same Arduino pin for trigger and echo, specify the same pin for both values.

+// max_cm_distance - [Optional] Maximum distance you wish to sense. Default=500cm.

+//

+// METHODS:

+// sonar.ping([max_cm_distance]) - Send a ping and get the echo time (in microseconds) as a result. [max_cm_distance] allows you to optionally set a new max distance.

+// sonar.ping_in([max_cm_distance]) - Send a ping and get the distance in whole inches. [max_cm_distance] allows you to optionally set a new max distance.

+// sonar.ping_cm([max_cm_distance]) - Send a ping and get the distance in whole centimeters. [max_cm_distance] allows you to optionally set a new max distance.

+// sonar.ping_median(iterations [, max_cm_distance]) - Do multiple pings (default=5), discard out of range pings and return median in microseconds. [max_cm_distance] allows you to optionally set a new max distance.

+// NewPing::convert_in(echoTime) - Convert echoTime from microseconds to inches (rounds to nearest inch).

+// NewPing::convert_cm(echoTime) - Convert echoTime from microseconds to centimeters (rounds to nearest cm).

+// sonar.ping_timer(function [, max_cm_distance]) - Send a ping and call function to test if ping is complete. [max_cm_distance] allows you to optionally set a new max distance.

+// sonar.check_timer() - Check if ping has returned within the set distance limit.

+// NewPing::timer_us(frequency, function) - Call function every frequency microseconds.

+// NewPing::timer_ms(frequency, function) - Call function every frequency milliseconds.

+// NewPing::timer_stop() - Stop the timer.

+//

+// HISTORY:

+// 01/26/2022 v1.9.4 - Added esp32 to the compatible architectures (note:

+// non-timer methods only)

+// 01/20/2022 v1.9.3 - Default to disable timer methods for non-AVR

+// microcontrollers and on the ATmega4809 used in the Nano Every.

+// 07/15/2018 v1.9.1 - Added support for ATtiny441 and ATtiny841

+// microcontrollers.

+// 12/09/2017 v1.9.0 - Added support for the ARM-based Particle devices. If

+// other ARM-based microcontrollers adopt a similar timer method that the

+// Particle and Teensy 3.x share, support for other ARM-based microcontrollers

+// could be possible. Attempt to add to Arduino library manager. License

+// changed.

+// 07/30/2016 v1.8 - Added support for non-AVR microcontrollers. For non-AVR

+// microcontrollers, advanced ping_timer() timer methods are disabled due to

+// inconsistencies or no support at all between platforms. However, standard

+// ping methods are all supported. Added new optional variable to ping(),

+// ping_in(), ping_cm(), ping_median(), and ping_timer() methods which allows

+// you to set a new maximum distance for each ping. Added support for the

+// ATmega16, ATmega32 and ATmega8535 microcontrollers. Changed convert_cm()

+// and convert_in() methods to static members. You can now call them without

+// an object. For example: cm = NewPing::convert_cm(distance);

+//

+// 09/29/2015 v1.7 - Removed support for the Arduino Due and Zero because

+// they're both 3.3 volt boards and are not 5 volt tolerant while the HC-SR04

+// is a 5 volt sensor. Also, the Due and Zero don't support pin manipulation

+// compatibility via port registers which can be done (see the Teensy 3.2).

+//

+// 06/17/2014 v1.6 - Corrected delay between pings when using ping_median()

+// method. Added support for the URM37 sensor (must change URM37_ENABLED from

+// false to true). Added support for Arduino microcontrollers like the $20

+// 32 bit ARM Cortex-M4 based Teensy 3.2. Added automatic support for the

+// Atmel ATtiny family of microcontrollers. Added timer support for the

+// ATmega8 microcontroller. Rounding disabled by default, reduces compiled

+// code size (can be turned on with ROUNDING_ENABLED switch). Added

+// TIMER_ENABLED switch to get around compile-time "__vector_7" errors when

+// using the Tone library, or you can use the toneAC, NewTone or

+// TimerFreeTone libraries: https://bitbucket.org/teckel12/arduino-toneac/

+// Other speed and compiled size optimizations.

+//

+// 08/15/2012 v1.5 - Added ping_median() method which does a user specified

+// number of pings (default=5) and returns the median ping in microseconds

+// (out of range pings ignored). This is a very effective digital filter.

+// Optimized for smaller compiled size (even smaller than sketches that

+// don't use a library).

+//

+// 07/14/2012 v1.4 - Added support for the Parallax PING)))� sensor. Interface

+// with all but the SRF06 sensor using only one Arduino pin. You can also

+// interface with the SRF06 using one pin if you install a 0.1uf capacitor

+// on the trigger and echo pins of the sensor then tie the trigger pin to

+// the Arduino pin (doesn't work with Teensy). To use the same Arduino pin

+// for trigger and echo, specify the same pin for both values. Various bug

+// fixes.

+//

+// 06/08/2012 v1.3 - Big feature addition, event-driven ping! Uses Timer2

+// interrupt, so be mindful of PWM or timing conflicts messing with Timer2

+// may cause (namely PWM on pins 3 & 11 on Arduino, PWM on pins 9 and 10 on

+// Mega, and Tone library). Simple to use timer interrupt functions you can

+// use in your sketches totally unrelated to ultrasonic sensors (don't use if

+// you're also using NewPing's ping_timer because both use Timer2 interrupts).

+// Loop counting ping method deleted in favor of timing ping method after

+// inconsistent results kept surfacing with the loop timing ping method.

+// Conversion to cm and inches now rounds to the nearest cm or inch. Code

+// optimized to save program space and fixed a couple minor bugs here and

+// there. Many new comments added as well as line spacing to group code

+// sections for better source readability.

+//

+// 05/25/2012 v1.2 - Lots of code clean-up thanks to Arduino Forum members.

+// Rebuilt the ping timing code from scratch, ditched the pulseIn code as it

+// doesn't give correct results (at least with ping sensors). The NewPing

+// library is now VERY accurate and the code was simplified as a bonus.

+// Smaller and faster code as well. Fixed some issues with very close ping

+// results when converting to inches. All functions now return 0 only when

+// there's no ping echo (out of range) and a positive value for a successful

+// ping. This can effectively be used to detect if something is out of range

+// or in-range and at what distance. Now compatible with Arduino 0023.

+//

+// 05/16/2012 v1.1 - Changed all I/O functions to use low-level port registers

+// for ultra-fast and lean code (saves from 174 to 394 bytes). Tested on both

+// the Arduino Uno and Teensy 2.0 but should work on all Arduino-based

+// platforms because it calls standard functions to retrieve port registers

+// and bit masks. Also made a couple minor fixes to defines.

+//

+// 05/15/2012 v1.0 - Initial release.

+// ---------------------------------------------------------------------------

+

+#ifndef NewPing_h

+

+ #define NewPing_h

+

+ #if defined (ARDUINO) && ARDUINO >= 100

+ #include <Arduino.h>

+ #else

+ #include <WProgram.h>

+ #if defined (PARTICLE)

+ #include <SparkIntervalTimer.h>

+ #else

+ #include <pins_arduino.h>

+ #endif

+ #endif

+

+ #if defined (__AVR__)

+ #include <avr/io.h>

+ #include <avr/interrupt.h>

+ #endif

+

+ // Shouldn't need to change these values unless you have a specific need to do so.

+ #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. Default=500

+ #define US_ROUNDTRIP_CM 57 // Microseconds (uS) it takes sound to travel round-trip 1cm (2cm total), uses integer to save compiled code space. Default=57

+ #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. Defalult=146

+ #define ONE_PIN_ENABLED true // Set to "false" to disable one pin mode which saves around 14-26 bytes of binary size. Default=true

+ #define ROUNDING_ENABLED false // Set to "true" to enable distance rounding which also adds 64 bytes to binary size. Default=false

+ #define URM37_ENABLED false // Set to "true" to enable support for the URM37 sensor in PWM mode. Default=false

+

+ // Probably shouldn't change these values unless you really know what you're doing.

+ #define NO_ECHO 0 // Value returned if there's no ping echo within the specified MAX_SENSOR_DISTANCE or max_cm_distance. Default=0

+ #define MAX_SENSOR_DELAY 5800 // Maximum uS it takes for sensor to start the ping. Default=5800

+ #define ECHO_TIMER_FREQ 24 // Frequency to check for a ping echo (every 24uS is about 0.4cm accuracy). Default=24

+ #define PING_MEDIAN_DELAY 29000 // Microsecond delay between pings in the ping_median method. Default=29000

+ #if URM37_ENABLED == true

+ #undef US_ROUNDTRIP_CM

+ #undef US_ROUNDTRIP_IN

+ #define US_ROUNDTRIP_CM 50 // Every 50uS PWM signal is low indicates 1cm distance. Default=50

+ #define US_ROUNDTRIP_IN 127 // If 50uS is 1cm, 1 inch would be 127uS (50 x 2.54 = 127). Default=127

+ #endif

+

+ // Conversion from uS to distance (round result to nearest cm or inch).

+ #define NewPingConvert(echoTime, conversionFactor) (max(((unsigned int)echoTime + conversionFactor / 2) / conversionFactor, (echoTime ? 1 : 0)))

+

+ // Detect non-AVR microcontrollers (Teensy 3.x, Arduino DUE, etc.) and don't use port registers or timer interrupts as required.

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

+ #define PING_OVERHEAD 1

+ #define PING_TIMER_OVERHEAD 1

+ #define TIMER_ENABLED true

+ #define DO_BITWISE true

+ #elif defined (__AVR__)

+ #define PING_OVERHEAD 5 // Ping overhead in microseconds (uS). Default=5

+ #define PING_TIMER_OVERHEAD 13 // Ping timer overhead in microseconds (uS). Default=13

+ #define TIMER_ENABLED true

+ #define DO_BITWISE true

+ #else

+ #define PING_OVERHEAD 1

+ #define PING_TIMER_OVERHEAD 1

+ #define TIMER_ENABLED false

+ #define DO_BITWISE false

+ #endif

+

+ // Disable the timer interrupts when using ATmega128, ATmega4809 and all ATtiny microcontrollers.

+ #if defined (__AVR_ATmega128__) || defined(__AVR_ATmega4809__) || defined (__AVR_ATtiny24__) || defined (__AVR_ATtiny44__) || defined (__AVR_ATtiny441__) || defined (__AVR_ATtiny84__) || defined (__AVR_ATtiny841__) || defined (__AVR_ATtiny25__) || defined (__AVR_ATtiny45__) || defined (__AVR_ATtiny85__) || defined (__AVR_ATtiny261__) || defined (__AVR_ATtiny461__) || defined (__AVR_ATtiny861__) || defined (__AVR_ATtiny43U__)

+ #undef TIMER_ENABLED

+ #define TIMER_ENABLED false

+ #endif

+

+ // Define timers when using ATmega8, ATmega16, ATmega32 and ATmega8535 microcontrollers.

+ #if defined (__AVR_ATmega8__) || defined (__AVR_ATmega16__) || defined (__AVR_ATmega32__) || defined (__AVR_ATmega8535__)

+ #define OCR2A OCR2

+ #define TIMSK2 TIMSK

+ #define OCIE2A OCIE2

+ #endif

+

+ class NewPing {

+ public:

+ NewPing(uint8_t trigger_pin, uint8_t echo_pin, unsigned int max_cm_distance = MAX_SENSOR_DISTANCE);

+ unsigned int ping(unsigned int max_cm_distance = 0);

+ unsigned long ping_cm(unsigned int max_cm_distance = 0);

+ unsigned long ping_in(unsigned int max_cm_distance = 0);

+ unsigned long ping_median(uint8_t it = 5, unsigned int max_cm_distance = 0);

+ static unsigned int convert_cm(unsigned int echoTime);

+ static unsigned int convert_in(unsigned int echoTime);

+ #if TIMER_ENABLED == true

+ void ping_timer(void (*userFunc)(void), unsigned int max_cm_distance = 0);

+ boolean check_timer();

+ unsigned long ping_result;

+ static void timer_us(unsigned int frequency, void (*userFunc)(void));

+ static void timer_ms(unsigned long frequency, void (*userFunc)(void));

+ static void timer_stop();

+ #endif

+ private:

+ boolean ping_trigger();

+ void set_max_distance(unsigned int max_cm_distance);

+ #if TIMER_ENABLED == true

+ boolean ping_trigger_timer(unsigned int trigger_delay);

+ boolean ping_wait_timer();

+ static void timer_setup();

+ static void timer_ms_cntdwn();

+ #endif

+ #if DO_BITWISE == true

+ uint8_t _triggerBit;

+ uint8_t _echoBit;

+ #if defined(PARTICLE)

+ #if !defined(portModeRegister)

+ #if defined (STM32F10X_MD)

+ #define portModeRegister(port) ( &(port->CRL) )

+ #elif defined (STM32F2XX)

+ #define portModeRegister(port) ( &(port->MODER) )

+ #endif

+ #endif

+ volatile uint32_t *_triggerOutput;

+ volatile uint32_t *_echoInput;

+ volatile uint32_t *_triggerMode;

+ #else

+ volatile uint8_t *_triggerOutput;

+ volatile uint8_t *_echoInput;

+ volatile uint8_t *_triggerMode;

+ #endif

+ #else

+ uint8_t _triggerPin;

+ uint8_t _echoPin;

+ #endif

+ unsigned int _maxEchoTime;

+ unsigned long _max_time;

+ };

+

+

+#endif