FastArduino  v1.7
C++ library to build fast but small Arduino/AVR projects
sonar.h File Reference

API to handle ultrasonic distance rangers (aka "sonar") such as the HC-SR04. More...

#include <fastarduino/boards/board.h>
#include <fastarduino/gpio.h>
#include <fastarduino/time.h>
#include <fastarduino/realtime_timer.h>
#include <fastarduino/utilities.h>
#include <fastarduino/int.h>
#include <fastarduino/pci.h>
Include dependency graph for sonar.h:

Go to the source code of this file.

Classes

class  devices::sonar::AbstractSonar< NTIMER_ >
 An abstract base class for some sonar classes defined as part of this API. More...
 
class  devices::sonar::HCSR04< NTIMER_, TRIGGER_, ECHO_, SONAR_TYPE_ >
 
struct  devices::sonar::SonarEvent< NTIMER_ >
 This type holds information about events occurring within MultiHCSR04 handler. More...
 
class  devices::sonar::MultiHCSR04< NTIMER_, TRIGGER_, ECHO_PORT_, ECHO_MASK_ >
 This template class supports up to 8 HC-SR04 sonars (or equivalent sensors), with their trigger pins gathered and connected to only one MCU pin, and all echo pins connected to the same MCU board::Port. More...
 

Namespaces

 devices
 Defines all API for all external devices supported by FastArduino.
 
 devices::sonar
 Defines the API for sonar support.
 

Macros

#define REGISTER_HCSR04_INT_ISR(TIMER, INT_NUM, TRIGGER, ECHO)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::ExternalInterruptPin. More...
 
#define REGISTER_HCSR04_PCI_ISR(TIMER, PCI_NUM, TRIGGER, ECHO, ...)
 Register the necessary ISR (Interrupt Service Routine) for a set of several devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::InterruptPin. More...
 
#define SONAR_PINS(TRIGGER, ECHO)   devices::sonar::isr_handler::TriggerEcho<TRIGGER, ECHO>
 Macro used to build proper arguments for REGISTER_DISTINCT_HCSR04_PCI_ISR(). More...
 
#define REGISTER_DISTINCT_HCSR04_PCI_ISR(TIMER, PCI_NUM, SONAR_PINS1, ...)
 Register the necessary ISR (Interrupt Service Routine) for a set of several devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::InterruptPin. More...
 
#define REGISTER_HCSR04_INT_ISR_METHOD(TIMER, INT_NUM, TRIGGER, ECHO, HANDLER, CALLBACK)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::ExternalInterruptPin, and call back a handler's method if the sonar has finished receiving the echo pulse. More...
 
#define REGISTER_HCSR04_INT_ISR_FUNCTION(TIMER, INT_NUM, TRIGGER, ECHO, CALLBACK)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::ExternalInterruptPin, along with a callback function that will be notified when the sonar has finished receiving the echo pulse. More...
 
#define REGISTER_HCSR04_PCI_ISR_METHOD(TIMER, PCI_NUM, TRIGGER, ECHO, HANDLER, CALLBACK)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::InterruptPin, and call back a handler's method if the sonar has finished receiving the echo pulse. More...
 
#define REGISTER_HCSR04_PCI_ISR_FUNCTION(TIMER, PCI_NUM, TRIGGER, ECHO, CALLBACK)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::InterruptPin, along with a callback function that will be notified when the sonar has finished receiving the echo pulse. More...
 
#define REGISTER_HCSR04_RTT_TIMEOUT(TIMER_NUM, SONAR, ...)
 Register the necessary ISR (Interrupt Service Routine) for a set of devices::sonar::HCSR04 to be notified when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update. More...
 
#define REGISTER_HCSR04_RTT_TIMEOUT_METHOD(TIMER_NUM, HANDLER, CALLBACK, SONAR, ...)
 Register the necessary ISR (Interrupt Service Routine) for a set of devices::sonar::HCSR04 to be notified, and call back a handler's method, when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update. More...
 
#define REGISTER_HCSR04_RTT_TIMEOUT_FUNCTION(TIMER_NUM, CALLBACK, SONAR, ...)
 Register the necessary ISR (Interrupt Service Routine) for a set of devices::sonar::HCSR04 to be notified, and call back a function, when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update. More...
 
#define REGISTER_MULTI_HCSR04_PCI_ISR_METHOD(TIMER, PCI_NUM, TRIGGER, ECHO_PORT, ECHO_MASK, HANDLER, CALLBACK)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to listen to echo pulses on all sonars connected to it, and call back a handler's method. More...
 
#define REGISTER_MULTI_HCSR04_PCI_ISR_FUNCTION(TIMER, PCI_NUM, TRIGGER, ECHO_PORT, ECHO_MASK, CALLBACK)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to listen to echo pulses on all sonars connected to it, and call back a function. More...
 
#define REGISTER_MULTI_HCSR04_RTT_TIMEOUT_METHOD(TIMER_NUM, SONAR, HANDLER, CALLBACK)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to be notified, and call back a handler's method, when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update. More...
 
#define REGISTER_MULTI_HCSR04_RTT_TIMEOUT_FUNCTION(TIMER_NUM, SONAR, CALLBACK)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to be notified, and call back a function, when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update. More...
 
#define REGISTER_MULTI_HCSR04_RTT_TIMEOUT_TRIGGER_METHOD(TIMER_NUM, SONAR, HANDLER, CB_TIMEOUT, CB_RTT)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to be notified, and call back one of two handler's methods, for each of the following events: More...
 
#define REGISTER_MULTI_HCSR04_RTT_TIMEOUT_TRIGGER_FUNCTION(TIMER_NUM, SONAR, CB_TIMEOUT, CB_RTT)
 Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to be notified, and call back one of two functions, for each of the following events: More...
 
#define DECL_SONAR_ISR_HANDLERS_FRIEND
 This macro shall be used in a class containing a private callback method, registered by one (or more) of: More...
 

Typedefs

template<board::Timer NTIMER_, board::DigitalPin TRIGGER_, board::DigitalPin ECHO_>
using devices::sonar::BLOCKING_HCSR04 = HCSR04< NTIMER_, TRIGGER_, ECHO_, SonarType::BLOCKING >
 This template class supports one HC-SR04 sonar (or equivalent sensor), connected to the MCU via 2 pins. More...
 
template<board::Timer NTIMER_, board::DigitalPin TRIGGER_, board::ExternalInterruptPin ECHO_>
using devices::sonar::ASYNC_INT_HCSR04 = HCSR04< NTIMER_, TRIGGER_, board::EXT_PIN< ECHO_ >(), SonarType::ASYNC_INT >
 This template class supports one HC-SR04 sonar (or equivalent sensor), connected to the MCU via 2 pins. More...
 
template<board::Timer NTIMER_, board::DigitalPin TRIGGER_, board::InterruptPin ECHO_>
using devices::sonar::ASYNC_PCINT_HCSR04 = HCSR04< NTIMER_, TRIGGER_, board::PCI_PIN< ECHO_ >(), SonarType::ASYNC_PCINT >
 This template class supports one HC-SR04 sonar (or equivalent sensor), connected to the MCU via 2 pins. More...
 

Enumerations

enum  devices::sonar::SonarType : uint8_t {
  devices::sonar::SonarType::BLOCKING,
  devices::sonar::SonarType::ASYNC_INT,
  devices::sonar::SonarType::ASYNC_PCINT
}
 This enum defines the different modes, supported by HCSR04, to calculate the echo pin pulse duration. More...
 

Functions

static constexpr uint16_t devices::sonar::echo_us_to_distance_mm (uint16_t echo_us)
 This method converts the echo duration, in microseconds, to the distance between the sensor and the reflecting obstacle, in millimeters. More...
 
static constexpr uint16_t devices::sonar::distance_mm_to_echo_us (uint16_t distance_mm)
 This method converts the disatnce, in millimeters, between the sensor and a reflecting object, into the expected echo duration, in microseconds. More...
 

Variables

static constexpr const uint32_t devices::sonar::SPEED_OF_SOUND = 340UL
 The approximate speed of sound (and ultrasonic) waves, in the air, expressed in meters per second. More...
 

Detailed Description

API to handle ultrasonic distance rangers (aka "sonar") such as the HC-SR04.

Definition in file sonar.h.

Macro Definition Documentation

◆ REGISTER_HCSR04_INT_ISR

#define REGISTER_HCSR04_INT_ISR (   TIMER,
  INT_NUM,
  TRIGGER,
  ECHO 
)
Value:
ISR(CAT3(INT, INT_NUM, _vect)) \
{ \
devices::sonar::isr_handler::sonar_int<INT_NUM, TIMER, TRIGGER, ECHO>(); \
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::ExternalInterruptPin.

Parameters
TIMERthe board::Timer type used to instantiate the devices::sonar::HCSR04 template class.
INT_NUMthe number of the INT vector for the board::ExternalInterruptPin connected to the echo pin
TRIGGERthe board::DigitalPin connected to the sonar trigger pin
ECHOthe board::ExternalInterruptPin connected to the sonar echo pin
See also
devices::sonar::HCSR04

Definition at line 46 of file sonar.h.

◆ REGISTER_HCSR04_PCI_ISR

#define REGISTER_HCSR04_PCI_ISR (   TIMER,
  PCI_NUM,
  TRIGGER,
  ECHO,
  ... 
)
Value:
ISR(CAT3(PCINT, PCI_NUM, _vect)) \
{ \
devices::sonar::isr_handler::sonar_pci<PCI_NUM, TIMER, TRIGGER, ECHO, ##__VA_ARGS__>(); \
}

Register the necessary ISR (Interrupt Service Routine) for a set of several devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::InterruptPin.

This macro supports registration of an ISR for several HCSR04, sharing one single trigger pin, and having all echo pins on the same port.

Parameters
TIMERthe board::Timer type used to instantiate the devices::sonar::HCSR04 template class.
PCI_NUMthe number of the PCINT vector for the board::InterruptPin connected to the echo pin
TRIGGERthe board::DigitalPin connected to the sonar trigger pin
ECHOthe board::InterruptPin connected to the sonar echo pin
...other echo pins for other HCSR04
See also
devices::sonar::HCSR04
REGISTER_DISTINCT_HCSR04_PCI_ISR()

Definition at line 70 of file sonar.h.

◆ SONAR_PINS

#define SONAR_PINS (   TRIGGER,
  ECHO 
)    devices::sonar::isr_handler::TriggerEcho<TRIGGER, ECHO>

Macro used to build proper arguments for REGISTER_DISTINCT_HCSR04_PCI_ISR().

Each constructed argument is actually a pair of pins, one board::DigitalPin (the trigger pin of the sonar), one board::InterruptPin (the echo pin of the sonar).

Parameters
TRIGGERthe board::DigitalPin connected to the trigger pin of the sonar
ECHOthe board::InterruptPin connected to the echo pin of the sonar
See also
REGISTER_DISTINCT_HCSR04_PCI_ISR()

Definition at line 86 of file sonar.h.

◆ REGISTER_DISTINCT_HCSR04_PCI_ISR

#define REGISTER_DISTINCT_HCSR04_PCI_ISR (   TIMER,
  PCI_NUM,
  SONAR_PINS1,
  ... 
)
Value:
ISR(CAT3(PCINT, PCI_NUM, _vect)) \
{ \
devices::sonar::isr_handler::sonar_distinct_pci<PCI_NUM, TIMER, SONAR_PINS1, ##__VA_ARGS__>(); \
}

Register the necessary ISR (Interrupt Service Routine) for a set of several devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::InterruptPin.

This macro supports registration of an ISR for several HCSR04, using distinct trigger pins, but having all echo pins on the same port.

Parameters
TIMERthe board::Timer type used to instantiate the devices::sonar::HCSR04 template class.
PCI_NUMthe number of the PCINT vector for the board::InterruptPin connected to the echo pin
SONAR_PINS1the pair of pins connected to the 1st sonar; this is a specific type, created by SONAR_PINS() macro.
...other pairs of (trigger pin, echo pin) for other HCSR04
See also
devices::sonar::HCSR04
SONAR_PINS()
REGISTER_HCSR04_PCI_ISR()

Definition at line 107 of file sonar.h.

◆ REGISTER_HCSR04_INT_ISR_METHOD

#define REGISTER_HCSR04_INT_ISR_METHOD (   TIMER,
  INT_NUM,
  TRIGGER,
  ECHO,
  HANDLER,
  CALLBACK 
)
Value:
ISR(CAT3(INT, INT_NUM, _vect)) \
{ \
devices::sonar::isr_handler::sonar_int_method<INT_NUM, TIMER, TRIGGER, ECHO, HANDLER, CALLBACK>(); \
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::ExternalInterruptPin, and call back a handler's method if the sonar has finished receiving the echo pulse.

Parameters
TIMERthe board::Timer type used to instantiate the devices::sonar::HCSR04 template class.
INT_NUMthe number of the INT vector for the board::ExternalInterruptPin connected to the echo pin
TRIGGERthe board::DigitalPin connected to the sonar trigger pin
ECHOthe board::ExternalInterruptPin connected to the sonar echo pin
HANDLERthe class holding the callback method
CALLBACKthe method of HANDLER that will be called when the sonar has received the echo pulse; this must be a proper PTMF (pointer to member function).
See also
devices::sonar::HCSR04
REGISTER_HCSR04_INT_ISR()
REGISTER_HCSR04_INT_ISR_FUNCTION()

Definition at line 133 of file sonar.h.

◆ REGISTER_HCSR04_INT_ISR_FUNCTION

#define REGISTER_HCSR04_INT_ISR_FUNCTION (   TIMER,
  INT_NUM,
  TRIGGER,
  ECHO,
  CALLBACK 
)
Value:
ISR(CAT3(INT, INT_NUM, _vect)) \
{ \
devices::sonar::isr_handler::sonar_int_function<INT_NUM, TIMER, TRIGGER, ECHO, CALLBACK>(); \
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::ExternalInterruptPin, along with a callback function that will be notified when the sonar has finished receiving the echo pulse.

Parameters
TIMERthe board::Timer type used to instantiate the devices::sonar::HCSR04 template class.
INT_NUMthe number of the INT vector for the board::ExternalInterruptPin connected to the echo pin
TRIGGERthe board::DigitalPin connected to the sonar trigger pin
ECHOthe board::ExternalInterruptPin connected to the sonar echo pin
CALLBACKthe function that will be called when the sonar has received the echo pulse
See also
devices::sonar::HCSR04
REGISTER_HCSR04_INT_ISR()
REGISTER_HCSR04_INT_ISR_METHOD()

Definition at line 157 of file sonar.h.

◆ REGISTER_HCSR04_PCI_ISR_METHOD

#define REGISTER_HCSR04_PCI_ISR_METHOD (   TIMER,
  PCI_NUM,
  TRIGGER,
  ECHO,
  HANDLER,
  CALLBACK 
)
Value:
ISR(CAT3(PCINT, PCI_NUM, _vect)) \
{ \
devices::sonar::isr_handler::sonar_pci_method<PCI_NUM, TIMER, TRIGGER, ECHO, HANDLER, CALLBACK>(); \
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::InterruptPin, and call back a handler's method if the sonar has finished receiving the echo pulse.

Parameters
TIMERthe board::Timer type used to instantiate the devices::sonar::HCSR04 template class.
PCI_NUMthe number of the PCINT vector for the board::InterruptPin connected to the echo pin
TRIGGERthe board::DigitalPin connected to the sonar trigger pin
ECHOthe board::InterruptPin connected to the sonar echo pin
HANDLERthe class holding the callback method
CALLBACKthe method of HANDLER that will be called when the sonar has received the echo pulse; this must be a proper PTMF (pointer to member function).
See also
devices::sonar::HCSR04
REGISTER_DISTINCT_HCSR04_PCI_ISR()
REGISTER_HCSR04_PCI_ISR()
REGISTER_HCSR04_PCI_ISR_FUNCTION()

Definition at line 185 of file sonar.h.

◆ REGISTER_HCSR04_PCI_ISR_FUNCTION

#define REGISTER_HCSR04_PCI_ISR_FUNCTION (   TIMER,
  PCI_NUM,
  TRIGGER,
  ECHO,
  CALLBACK 
)
Value:
ISR(CAT3(PCINT, PCI_NUM, _vect)) \
{ \
devices::sonar::isr_handler::sonar_pci_function<PCI_NUM, TIMER, TRIGGER, ECHO, CALLBACK>(); \
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::HCSR04 to listen to echo pulses when the echo pin is a board::InterruptPin, along with a callback function that will be notified when the sonar has finished receiving the echo pulse.

Parameters
TIMERthe board::Timer type used to instantiate the devices::sonar::HCSR04 template class.
PCI_NUMthe number of the PCINT vector for the board::InterruptPin connected to the echo pin
TRIGGERthe board::DigitalPin connected to the sonar trigger pin
ECHOthe board::InterruptPin connected to the sonar echo pin
CALLBACKthe function that will be called when the sonar has received the echo pulse
See also
devices::sonar::HCSR04
REGISTER_HCSR04_PCI_ISR()
REGISTER_HCSR04_PCI_ISR_METHOD()

Definition at line 210 of file sonar.h.

◆ REGISTER_HCSR04_RTT_TIMEOUT

#define REGISTER_HCSR04_RTT_TIMEOUT (   TIMER_NUM,
  SONAR,
  ... 
)
Value:
ISR(CAT3(TIMER, TIMER_NUM, _COMPA_vect)) \
{ \
devices::sonar::isr_handler::sonar_rtt_change<TIMER_NUM, SONAR, ##__VA_ARGS__>(); \
}

Register the necessary ISR (Interrupt Service Routine) for a set of devices::sonar::HCSR04 to be notified when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update.

Parameters
TIMER_NUMthe number of the TIMER feature for the target MCU
SONARthe actual type of the first sonar to notify (instantiated template of devices::sonar::HCSR04)
...the actual types of other sonars to notify
See also
devices::sonar::HCSR04
HCSR04::echo_us()
HCSR04::await_echo_us()
HCSR04::async_echo()
REGISTER_RTT_ISR()

Definition at line 232 of file sonar.h.

◆ REGISTER_HCSR04_RTT_TIMEOUT_METHOD

#define REGISTER_HCSR04_RTT_TIMEOUT_METHOD (   TIMER_NUM,
  HANDLER,
  CALLBACK,
  SONAR,
  ... 
)
Value:
ISR(CAT3(TIMER, TIMER_NUM, _COMPA_vect)) \
{ \
if (devices::sonar::isr_handler::sonar_rtt_change<TIMER_NUM, SONAR, ##__VA_ARGS__>()) \
interrupt::CallbackHandler<void (HANDLER::*)(), CALLBACK>::call(); \
}

Register the necessary ISR (Interrupt Service Routine) for a set of devices::sonar::HCSR04 to be notified, and call back a handler's method, when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update.

Parameters
TIMER_NUMthe number of the TIMER feature for the target MCU
HANDLERthe class holding the callback method
CALLBACKthe function that will be called when the timeout has occurred
SONARthe actual type of the first sonar to notify (instantiated template of devices::sonar::HCSR04)
...the actual types of other sonars to notify
See also
devices::sonar::HCSR04
HCSR04::echo_us()
HCSR04::await_echo_us()
HCSR04::async_echo()
REGISTER_HCSR04_RTT_TIMEOUT()

Definition at line 257 of file sonar.h.

◆ REGISTER_HCSR04_RTT_TIMEOUT_FUNCTION

#define REGISTER_HCSR04_RTT_TIMEOUT_FUNCTION (   TIMER_NUM,
  CALLBACK,
  SONAR,
  ... 
)
Value:
ISR(CAT3(TIMER, TIMER_NUM, _COMPA_vect)) \
{ \
if (devices::sonar::isr_handler::sonar_rtt_change<TIMER_NUM, SONAR, ##__VA_ARGS__>()) \
interrupt::CallbackHandler<void (*)(), CALLBACK>::call(); \
}

Register the necessary ISR (Interrupt Service Routine) for a set of devices::sonar::HCSR04 to be notified, and call back a function, when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update.

Parameters
TIMER_NUMthe number of the TIMER feature for the target MCU
CALLBACKthe function that will be called when the timeout has occurred
SONARthe actual type of the first sonar to notify (instantiated template of devices::sonar::HCSR04)
...the actual types of other sonars to notify
See also
devices::sonar::HCSR04
HCSR04::echo_us()
HCSR04::await_echo_us()
HCSR04::async_echo()
REGISTER_HCSR04_RTT_TIMEOUT()

Definition at line 282 of file sonar.h.

◆ REGISTER_MULTI_HCSR04_PCI_ISR_METHOD

#define REGISTER_MULTI_HCSR04_PCI_ISR_METHOD (   TIMER,
  PCI_NUM,
  TRIGGER,
  ECHO_PORT,
  ECHO_MASK,
  HANDLER,
  CALLBACK 
)
Value:
ISR(CAT3(PCINT, PCI_NUM, _vect)) \
{ \
using ISRHANDLER = devices::sonar::isr_handler; \
ISRHANDLER::multi_sonar_pci_method<PCI_NUM, TIMER, TRIGGER, ECHO_PORT, ECHO_MASK, HANDLER, CALLBACK>();\
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to listen to echo pulses on all sonars connected to it, and call back a handler's method.

Parameters
TIMERthe board::Timer type used to instantiate the devices::sonar::MultiHCSR04 template class.
PCI_NUMthe number of the PCINT vector for the board::InterruptPin connected to the echo pin
TRIGGERthe board::DigitalPin connected to the sonars trigger pins
ECHO_PORTthe board::Port connected to all sonar echo pins
ECHO_MASKthe mask to apply to ECHO_PORT to define which pins of this port are connected to a sonar
HANDLERthe class holding the callback method
CALLBACKthe method of HANDLER that will be called when one sonar echo pin changes level, i.e. when a leading or trailing edge of the echo pulse is received; this must be a proper PTMF (pointer to member function) which takes one argument of type const SonarEvent<TIMER>&.
See also
devices::sonar::MultiHCSR04
devices::sonar::SonarEvent
REGISTER_MULTI_HCSR04_PCI_ISR_FUNCTION()
REGISTER_MULTI_HCSR04_RTT_TIMEOUT_METHOD()

Definition at line 313 of file sonar.h.

◆ REGISTER_MULTI_HCSR04_PCI_ISR_FUNCTION

#define REGISTER_MULTI_HCSR04_PCI_ISR_FUNCTION (   TIMER,
  PCI_NUM,
  TRIGGER,
  ECHO_PORT,
  ECHO_MASK,
  CALLBACK 
)
Value:
ISR(CAT3(PCINT, PCI_NUM, _vect)) \
{ \
using ISRHANDLER = devices::sonar::isr_handler; \
ISRHANDLER::multi_sonar_pci_function<PCI_NUM, TIMER, TRIGGER, ECHO_PORT, ECHO_MASK, CALLBACK>();\
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to listen to echo pulses on all sonars connected to it, and call back a function.

Parameters
TIMERthe board::Timer type used to instantiate the devices::sonar::MultiHCSR04 template class.
PCI_NUMthe number of the PCINT vector for the board::InterruptPin connected to the echo pin
TRIGGERthe board::DigitalPin connected to the sonars trigger pins
ECHO_PORTthe board::Port connected to all sonar echo pins
ECHO_MASKthe mask to apply to ECHO_PORT to define which pins of this port are connected to a sonar
CALLBACKthe function that will be called when one sonar echo pin changes level, i.e. when a leading or trailing edge of the echo pulse is received; this must take one argument of type const SonarEvent<TIMER>&.
See also
devices::sonar::MultiHCSR04
devices::sonar::SonarEvent
REGISTER_MULTI_HCSR04_PCI_ISR_METHOD()
REGISTER_MULTI_HCSR04_RTT_TIMEOUT_FUNCTION()

Definition at line 342 of file sonar.h.

◆ REGISTER_MULTI_HCSR04_RTT_TIMEOUT_METHOD

#define REGISTER_MULTI_HCSR04_RTT_TIMEOUT_METHOD (   TIMER_NUM,
  SONAR,
  HANDLER,
  CALLBACK 
)
Value:
ISR(CAT3(TIMER, TIMER_NUM, _COMPA_vect)) \
{ \
using EVENT = typename SONAR::EVENT; \
EVENT event = devices::sonar::isr_handler::multi_sonar_rtt_change<TIMER_NUM, SONAR, EVENT>(); \
if (event.timeout()) interrupt::CallbackHandler<void (HANDLER::*)(const EVENT&), CALLBACK>::call(event); \
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to be notified, and call back a handler's method, when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update.

Parameters
TIMER_NUMthe number of the TIMER feature for the target MCU
SONARthe actual type of the devices::sonar::MultiHCSR04 for which this ISR is registered
HANDLERthe class holding the callback method
CALLBACKthe method of HANDLER that will be called when a timeout occurs; this must be a proper PTMF (pointer to member function) which takes one argument of type const SonarEvent<TIMER>&.
See also
devices::sonar::MultiHCSR04
devices::sonar::SonarEvent
REGISTER_MULTI_HCSR04_RTT_TIMEOUT_FUNCTION()

Definition at line 367 of file sonar.h.

◆ REGISTER_MULTI_HCSR04_RTT_TIMEOUT_FUNCTION

#define REGISTER_MULTI_HCSR04_RTT_TIMEOUT_FUNCTION (   TIMER_NUM,
  SONAR,
  CALLBACK 
)
Value:
ISR(CAT3(TIMER, TIMER_NUM, _COMPA_vect)) \
{ \
using EVENT = typename SONAR::EVENT; \
EVENT event = devices::sonar::isr_handler::multi_sonar_rtt_change<TIMER_NUM, SONAR, EVENT>(); \
if (event.timeout()) interrupt::CallbackHandler<void (*)(const EVENT&), CALLBACK>::call(event); \
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to be notified, and call back a function, when a timeout occurs; this ISR is also in charge of the associated timer::RTT time update.

Parameters
TIMER_NUMthe number of the TIMER feature for the target MCU
SONARthe actual type of the devices::sonar::MultiHCSR04 for which this ISR is registered
CALLBACKthe function that will be called when a timeout occurs; this must take one argument of type const SonarEvent<TIMER>&.
See also
devices::sonar::MultiHCSR04
devices::sonar::SonarEvent
REGISTER_MULTI_HCSR04_RTT_TIMEOUT_METHOD()

Definition at line 391 of file sonar.h.

◆ REGISTER_MULTI_HCSR04_RTT_TIMEOUT_TRIGGER_METHOD

#define REGISTER_MULTI_HCSR04_RTT_TIMEOUT_TRIGGER_METHOD (   TIMER_NUM,
  SONAR,
  HANDLER,
  CB_TIMEOUT,
  CB_RTT 
)
Value:
ISR(CAT3(TIMER, TIMER_NUM, _COMPA_vect)) \
{ \
using EVENT = typename SONAR::EVENT; \
EVENT event = devices::sonar::isr_handler::multi_sonar_rtt_change<TIMER_NUM, SONAR, EVENT>(); \
if (event.timeout()) \
interrupt::CallbackHandler<void (HANDLER::*)(const EVENT&), CB_TIMEOUT>::call(event); \
interrupt::CallbackHandler<void (HANDLER::*)(), CB_RTT>::call(); \
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to be notified, and call back one of two handler's methods, for each of the following events:

  • a range timeout occurs
  • the associated timer::RTT is updated (one ms elapsed) This ISR is also in charge of the associated timer::RTT time update.
Parameters
TIMER_NUMthe number of the TIMER feature for the target MCU
SONARthe actual type of the devices::sonar::MultiHCSR04 for which this ISR is registered
HANDLERthe class holding the callback method
CB_TIMEOUTthe method of HANDLER that will be called when a timeout occurs; this must be a proper PTMF (pointer to member function) which takes one argument of type const SonarEvent<TIMER>&.
CB_RTTthe method of HANDLER that will be called when the associated timer::RTT is updated; this must be a proper PTMF (pointer to member function) which takes no argument. This is typically used by HANDLER to retrigger sonars ranging on a periodic basis.
See also
devices::sonar::MultiHCSR04
devices::sonar::SonarEvent
REGISTER_MULTI_HCSR04_RTT_TIMEOUT_TRIGGER_FUNCTION()

Definition at line 423 of file sonar.h.

◆ REGISTER_MULTI_HCSR04_RTT_TIMEOUT_TRIGGER_FUNCTION

#define REGISTER_MULTI_HCSR04_RTT_TIMEOUT_TRIGGER_FUNCTION (   TIMER_NUM,
  SONAR,
  CB_TIMEOUT,
  CB_RTT 
)
Value:
ISR(CAT3(TIMER, TIMER_NUM, _COMPA_vect)) \
{ \
using EVENT = typename SONAR::EVENT; \
EVENT event = devices::sonar::isr_handler::multi_sonar_rtt_change<TIMER_NUM, SONAR, EVENT>(); \
if (event.timeout()) \
interrupt::CallbackHandler<void (*)(const EVENT&), CB_TIMEOUT>::call(event); \
interrupt::CallbackHandler<void (*)(), CB_RTT>::call(); \
}

Register the necessary ISR (Interrupt Service Routine) for a devices::sonar::MultiHCSR04 to be notified, and call back one of two functions, for each of the following events:

  • a range timeout occurs
  • the associated timer::RTT is updated (one ms elapsed) This ISR is also in charge of the associated timer::RTT time update.
Parameters
TIMER_NUMthe number of the TIMER feature for the target MCU
SONARthe actual type of the devices::sonar::MultiHCSR04 for which this ISR is registered
CB_TIMEOUTthe function that will be called when a timeout occurs; this must take one argument of type const SonarEvent<TIMER>&.
CB_RTTthe function that will be called when the associated timer::RTT is updated; this must take no argument. This is typically used to retrigger sonars ranging on a periodic basis.
See also
devices::sonar::MultiHCSR04
devices::sonar::SonarEvent
REGISTER_MULTI_HCSR04_RTT_TIMEOUT_TRIGGER_METHOD()

Definition at line 454 of file sonar.h.

◆ DECL_SONAR_ISR_HANDLERS_FRIEND

#define DECL_SONAR_ISR_HANDLERS_FRIEND
Value:
friend struct devices::sonar::isr_handler; \
DECL_INT_ISR_FRIENDS \
DECL_PCINT_ISR_FRIENDS \
DECL_TIMER_COMP_FRIENDS

This macro shall be used in a class containing a private callback method, registered by one (or more) of:

  • REGISTER_HCSR04_INT_ISR_METHOD
  • REGISTER_HCSR04_PCI_ISR_METHOD
  • REGISTER_HCSR04_RTT_TIMEOUT_METHOD
  • REGISTER_MULTI_HCSR04_PCI_ISR_METHOD
  • REGISTER_MULTI_HCSR04_RTT_TIMEOUT_METHOD

It declares the class where it is used as a friend of all necessary functions so that the private callback method can be called properly.

Definition at line 476 of file sonar.h.

interrupt
Defines API to handle AVR interruptions.
Definition: int.h:100