#include <pingpp.hpp>

Inheritance diagram for ping:

Collaboration diagram for ping:

Public Member Functions
	ping ()

	ping (memory_address_t port_base, memory_address_t port_pin, timer_t timer_id, subtimer_t timer_subtimer)

void	sample (void)

virtual void	start (void)

virtual void	stop (void)

uint32_t	handle_gpio (void)

uint32_t	handle_timer (void)

semaphore *	get_sem (void)

uint32_t	notify (void)

int32_t	average (void)

int32_t	distance (void)

Public Member Functions inherited from critical
uint32_t	StartCritical (void)

void	EndCritical (uint32_t primask)

Public Attributes
circularbuffer< int32_t, 5 >	buf

Private Attributes
semaphore	sem

blinker	sig

ping_status_t	status

timer	tim

uint32_t	timer_interrupt

memory_address_t	base

memory_address_t	pin

uint32_t	timer_signal_value

uint32_t	timer_response_value

Additional Inherited Members
Static Public Member Functions inherited from critical
static uint32_t	static_StartCritical (void)

static void	static_EndCritical (uint32_t primask)

Detailed Description

Definition at line 28 of file pingpp.hpp.

Constructor & Destructor Documentation

ping::ping ( )

Definition at line 11 of file pingpp.cpp.

11 {}

ping::ping	(	memory_address_t	port_base,
		memory_address_t	port_pin,
		timer_t	timer_id,
		subtimer_t	timer_subtimer
	)

Definition at line 13 of file pingpp.cpp.

References base, buf, ctlsys::enable_periph(), pin, ping_not_active, sem, sig, status, tim, and timer_interrupt.

                                                                   {
 
     status = ping_not_active;
 
     base = ping_base;
     pin = ping_pin;
     sig = blinker(base);
 
     sem = semaphore();
     buf = circularbuffer<PING_BUFFER_TYPE, PING_BUFFER_LENGTH>();
 
     switch(ping_timer_subtimer) {
     case TIMER_A:
     case TIMER_BOTH:
         timer_interrupt = TIMER_TIMA_TIMEOUT;
         break;
     case TIMER_B:
         timer_interrupt = TIMER_TIMB_TIMEOUT;
         break;
     default:
         while (1) {}
     }
 
     tim = timer(ping_timer_id, ping_timer_subtimer, TIMER_CFG_ONE_SHOT_UP, 0x0fffffe,
                 timer_interrupt);
 
     ctlsys::enable_periph(base);
 }

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Member Function Documentation

int32_t ping::average ( void )

Definition at line 135 of file pingpp.cpp.

References buf, buffer< T, N >::buf, and buffer< T, N >::len.

Referenced by distance(), and ping_handler().

                       {
 
     int32_t i, value;
     value = 0;
     for (i=0; i<buf.len; ++i) {
         value += buf.buf[i];
     }
     value /= buf.len;
     return value;
 }

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int32_t ping::distance ( void )

Definition at line 146 of file pingpp.cpp.

References average().

Referenced by can_transmitter().

                        {
 
     /* The speed of sound is 340 m/s or 29 microseconds per centimeter. */
     /* The ping travels out and back, so to find the distance of the */
     /* object we take half of the distance travelled. */
 
     /* bus clock is 25/2 ns */
     /* num bus clocks is in average() */
     /* time taken for round trip is average()*25/2 in ns */
 
     return (average() * 25) / (2492);
 }

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semaphore * ping::get_sem ( void )

The ping sensor's semaphore

Definition at line 130 of file pingpp.cpp.

References sem.

Referenced by main().

                          {
 
     return &sem;
 }

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uint32_t ping::handle_gpio ( void )

Acknowledge isr for sig.

Definition at line 107 of file pingpp.cpp.

References circularbuffer< T, N >::add(), base, buf, timer::get(), timer::load(), pin, ping_response, ping_sample_delay, ping_signal, timer::reload(), timer::start(), status, tim, timer_response_value, and timer_signal_value.

Referenced by GPIOPortD_Handler().

                            {
 
     GPIOIntClear(base, pin);
 
     status = ping_status_t(int(status) + 1);
 
     if (status == ping_signal) {
         tim.reload();
         timer_signal_value = tim.get();
         tim.start();
     } else if (status == ping_response) {
         timer_response_value = tim.get();
         buf.add(timer_response_value - timer_signal_value);
         status = ping_sample_delay;
         tim.load(SysCtlClockGet()/25);
         tim.start();
     } else {
         /* TODO: do something here? */
     }
 
     return 0xDEADBEEF;
 }

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uint32_t ping::handle_timer ( void )

Definition at line 85 of file pingpp.cpp.

References timer::ack(), ping_not_active, ping_response, ping_sample_delay, ping_signal, semaphore::post(), sem, status, and tim.

Referenced by Timer1A_Handler().

                             {
 
     tim.ack();
 
     if (status == ping_not_active) {
         /* TODO: remove when done debugging */
         GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, GPIO_PIN_1);
     } else if (status == ping_signal) {
         /* TODO: remove when done debugging */
         GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, GPIO_PIN_2);
     } else if (status == ping_response) {
         /* TODO: remove when done debugging */
         GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, GPIO_PIN_3);
     } else if (status == ping_sample_delay) {
         status = ping_not_active;
     }
 
     /* either a timeout happened or the sensor delay period has been
        achieved */
     sem.post();
 }

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uint32_t ping::notify ( void )

Alert object that the isr watching both edges of sig has been triggered.

void ping::sample ( void )

Warning: this device should not be sampled more than once every 200 micro-seconds

Definition at line 45 of file pingpp.cpp.

References base, delay::count(), critical::EndCritical(), ctlsys::gpio_int_disable(), ctlsys::gpio_int_enable(), ctlsys::periph_to_int(), pin, ping_not_active, sig, critical::StartCritical(), status, blinker::turn_off(), and blinker::turn_on().

Referenced by ping_handler().

                   {
 
     if (status == ping_not_active) {
         uint32_t intstatus = StartCritical();
 
         /* Disable interrupts in SIG */
         ctlsys::gpio_int_disable(base, pin);
         IntDisable(ctlsys::periph_to_int(base));
 
         /* Set Ping))) SIG to output */
         GPIOPinTypeGPIOOutput(base, pin);
         sig.turn_on(pin);
         /* Set SIG high for 5usec */
         delay::count(1);
         sig.turn_off(pin);
 
         /* Set Ping))) SIG to input */
         GPIOPinTypeGPIOInput(base, pin);
         GPIOIntTypeSet(base, pin, GPIO_BOTH_EDGES);
         delay::count(200);
 
         /* Enable interupts on SIG */
         ctlsys::gpio_int_enable(base, pin, true);
         IntEnable(ctlsys::periph_to_int(base));
 
         EndCritical(intstatus);
     }
 }

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void ping::start ( void )

virtual

Start the timer monitoring sig.

Definition at line 74 of file pingpp.cpp.

References semaphore::post(), and sem.

Referenced by ping_handler().

                  {
 
     /* start the chain */
     sem.post();
 }

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void ping::stop ( void )

virtual

Stop the timer monitoring sig.

Definition at line 80 of file pingpp.cpp.

References semaphore::reset(), and sem.

                 {
 
     sem.reset();
 }

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Member Data Documentation

memory_address_t ping::base

private

Definition at line 35 of file pingpp.hpp.

Referenced by handle_gpio(), ping(), and sample().

circularbuffer< int32_t , 5 > ping::buf

Definition at line 66 of file pingpp.hpp.

Referenced by average(), handle_gpio(), and ping().

memory_address_t ping::pin

private

Definition at line 36 of file pingpp.hpp.

Referenced by handle_gpio(), ping(), and sample().

semaphore ping::sem

private

Definition at line 30 of file pingpp.hpp.

Referenced by get_sem(), handle_timer(), ping(), start(), and stop().

blinker ping::sig

private

Definition at line 31 of file pingpp.hpp.

Referenced by ping(), and sample().

ping_status_t ping::status

private

Definition at line 32 of file pingpp.hpp.

Referenced by handle_gpio(), handle_timer(), ping(), and sample().

timer ping::tim

private

Definition at line 33 of file pingpp.hpp.

Referenced by handle_gpio(), handle_timer(), and ping().

uint32_t ping::timer_interrupt

private

Definition at line 34 of file pingpp.hpp.

Referenced by ping().

uint32_t ping::timer_response_value

private

Definition at line 39 of file pingpp.hpp.

Referenced by handle_gpio().

uint32_t ping::timer_signal_value

private

Definition at line 38 of file pingpp.hpp.

Referenced by handle_gpio().

The documentation for this class was generated from the following files:

board-progs/autonomous-racer/common/pingpp.hpp
board-progs/autonomous-racer/common/pingpp.cpp

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation