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-rw-r--r--digital/ucoolib/ucoolib/dev/usdist/Module1
-rw-r--r--digital/ucoolib/ucoolib/dev/usdist/usdist.cc99
-rw-r--r--digital/ucoolib/ucoolib/dev/usdist/usdist.hh79
3 files changed, 179 insertions, 0 deletions
diff --git a/digital/ucoolib/ucoolib/dev/usdist/Module b/digital/ucoolib/ucoolib/dev/usdist/Module
new file mode 100644
index 00000000..bedbac40
--- /dev/null
+++ b/digital/ucoolib/ucoolib/dev/usdist/Module
@@ -0,0 +1 @@
+dev_usdist_SOURCES = usdist.cc
diff --git a/digital/ucoolib/ucoolib/dev/usdist/usdist.cc b/digital/ucoolib/ucoolib/dev/usdist/usdist.cc
new file mode 100644
index 00000000..759e68cb
--- /dev/null
+++ b/digital/ucoolib/ucoolib/dev/usdist/usdist.cc
@@ -0,0 +1,99 @@
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "usdist.hh"
+
+namespace ucoo {
+
+
+UsDist::UsDist (UsDistControl &ctrl, Adc &adc, Io &io,
+ int distance_min, int distance_max, int distance_too_far)
+ : adc_ (adc), io_ (io), next_ (0),
+ distance_min_ (distance_min), distance_max_ (distance_max),
+ distance_too_far_ (distance_too_far), distance_ (-1)
+{
+ next_ = ctrl.sensors_;
+ ctrl.sensors_ = this;
+}
+
+void
+UsDist::enable ()
+{
+ io_.set ();
+}
+
+void
+UsDist::disable ()
+{
+ io_.reset ();
+}
+
+int
+UsDist::read ()
+{
+ int v = adc_.read ();
+ // The sensor returns a value between 4 and 20 mA proportional to the
+ // distance between calibrated values. Ignore faulty sensors.
+ const int max = adc_.get_resolution ();
+ const int min = max / 5;
+ if (v <= min / 4)
+ distance_ = -1;
+ else if (v <= min)
+ distance_ = distance_min_;
+ else
+ distance_ = distance_min_
+ + ((v - min) * (distance_max_ - distance_min_) / (max - min));
+ if (distance_too_far_ != -1 && distance_ > distance_too_far_)
+ distance_ = -1;
+ return distance_;
+}
+
+UsDistControl::UsDistControl (int period)
+ : period_ (period), sensors_ (0), current_ (0), wait_ (0)
+{
+}
+
+bool
+UsDistControl::update ()
+{
+ bool new_measure = false;
+ if (wait_)
+ wait_--;
+ else
+ {
+ if (current_)
+ {
+ current_->disable ();
+ current_->read ();
+ new_measure = true;
+ current_ = current_->next_;
+ }
+ if (!current_)
+ current_ = sensors_;
+ current_->enable ();
+ wait_ = period_ - 1;
+ }
+ return new_measure;
+}
+
+} // namespace ucoo
diff --git a/digital/ucoolib/ucoolib/dev/usdist/usdist.hh b/digital/ucoolib/ucoolib/dev/usdist/usdist.hh
new file mode 100644
index 00000000..6f86d24a
--- /dev/null
+++ b/digital/ucoolib/ucoolib/dev/usdist/usdist.hh
@@ -0,0 +1,79 @@
+#ifndef ucoolib_dev_usdist_usdist_hh
+#define ucoolib_dev_usdist_usdist_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "ucoolib/intf/adc.hh"
+#include "ucoolib/intf/io.hh"
+
+namespace ucoo {
+
+class UsDistControl;
+
+/// Single US distance sensor.
+class UsDist
+{
+ public:
+ /// Constructor.
+ UsDist (UsDistControl &ctrl, Adc &adc, Io &io,
+ int distance_min, int distance_max, int distance_too_far = -1);
+ /// Enable measure.
+ void enable ();
+ /// Disable measure.
+ void disable ();
+ /// Read current value.
+ int read ();
+ /// Return last measured distance.
+ int get () const { return distance_; }
+ private:
+ Adc &adc_;
+ Io &io_;
+ UsDist *next_;
+ int distance_min_, distance_max_, distance_too_far_;
+ int distance_;
+ friend class UsDistControl;
+};
+
+/// Handle a set of US distance sensors.
+class UsDistControl
+{
+ public:
+ /// Constructor.
+ UsDistControl (int period);
+ /// Make measurements, return true if a new measure is available.
+ bool update ();
+ private:
+ /// Number of updates between measures.
+ int period_;
+ /// Pointer to linked list of sensors.
+ UsDist *sensors_;
+ /// Current measuring sensor.
+ UsDist *current_;
+ /// Number of updates before the next action.
+ int wait_;
+ friend class UsDist;
+};
+
+} // namespace ucoo
+
+#endif // ucoolib_dev_usdist_usdist_hh