unsigned int NewPing::ping() {
ping_trigger(); // Trigger a ping.
if (!ping_wait()) return NO_ECHO; // Wait for ping to start, if it returns false, return NO_ECHO to the calling function.
while (*_echoInput & _echoBit) // Wait for the ping echo.
if (micros() > _max_time) return NO_ECHO; // Stop the loop and return NO_ECHO (false) if we're beyond the set maximum distance.
return (micros() - (_max_time - _maxEchoTime) - 5); // Calculate ping time, 5uS of overhead.
}
unsigned int NewPing::ping() {
if (!ping_trigger()) return NO_ECHO; // Trigger a ping, if it returns false, return NO_ECHO to the calling function.
#if URM37_ENABLED == true
while (!(*_echoInput & _echoBit)) // Wait for the ping echo.
if (micros() > _max_time) return NO_ECHO; // Stop the loop and return NO_ECHO (false) if we're beyond the set maximum distance.
#else
while (*_echoInput & _echoBit) // Wait for the ping echo.
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 ping(int max_cm_distance)
{
unsigned long t0 = 0;
// Calculate the maximum distance in uS.
if (max_cm_distance > MAX_SENSOR_DISTANCE_CM)
max_cm_distance = MAX_SENSOR_DISTANCE_CM;
unsigned long tmax =
max_cm_distance * ROUNDTRIP_CM_US + (ROUNDTRIP_CM_US / 2);
if ((t0 = ping_trigger()) <= 10)
return ULONG_MAX;
while (bit_is_set(PINB, PB4)) {
if (micros() - t0 > tmax)
return ULONG_MAX;
}
// Calculate ping time, 5uS of overhead.
return (micros() - t0 - 5);
}
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.
}
void NewPing::ping_timer(void (*userFunc)(void), unsigned int updateInterval_us,unsigned int maxTime_us) {
if (!ping_trigger(maxTime_us)) return; // Trigger a ping, if it returns false, return without starting the echo timer.
timer_us(updateInterval_us, userFunc); // Set ping echo timer check every ECHO_TIMER_FREQ uS.
_isRunning=true;
}
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.
}
void NewPing::ping_timer(void (*userFunc)(void)) {
ping_trigger(); // Trigger a ping.
if (!ping_wait()) return; // Wait for ping to start, 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.
}
