// --------------------------------------------------------------------------- // NewPing Library - v1.9.1 - 07/15/2018 // // AUTHOR/LICENSE: // Created by Tim Eckel - teckel@leethost.com // Copyright 2018 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 TON 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 // Blog: http://arduino.cc/forum/index.php/topic,106043.0.html // // 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: // 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 #else #include #if defined (PARTICLE) #include #else #include #endif #endif #if defined (__AVR__) #include #include #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 #define TIMER_ENABLED true // Set to "false" to disable the timer ISR (if getting "__vector_7" compile errors set this to false). Default=true // 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 #define PING_OVERHEAD 5 // Ping overhead in microseconds (uS). Default=5 #define PING_TIMER_OVERHEAD 13 // Ping timer overhead in microseconds (uS). Default=13 #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))) #undef PING_OVERHEAD #define PING_OVERHEAD 1 #undef PING_TIMER_OVERHEAD #define PING_TIMER_OVERHEAD 1 #define DO_BITWISE true #elif !defined (__AVR__) #undef PING_OVERHEAD #define PING_OVERHEAD 1 #undef PING_TIMER_OVERHEAD #define PING_TIMER_OVERHEAD 1 #undef TIMER_ENABLED #define TIMER_ENABLED false #define DO_BITWISE false #else #define DO_BITWISE true #endif // Disable the timer interrupts when using ATmega128 and all ATtiny microcontrollers. #if defined (__AVR_ATmega128__) || 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