ping.h

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#pragma once
 
#include <PropWare/gpio/pin.h>
#include <PropWare/utility/utility.h>
 
namespace PropWare {
 
class Ping {
    public:
        Ping (const PropWare::Pin::Mask signalMask)
                : m_trigger(signalMask),
                  m_echo(signalMask) {
        };
 
        Ping (const PropWare::Pin::Mask triggerMask, const PropWare::Pin::Mask echoMask)
                : m_trigger(triggerMask),
                  m_echo(echoMask) {
        };
 
        unsigned int get_millimeters () const {
            return this->get_microseconds() * 17;
        }
 
        unsigned int get_centimeters () const {
            return this->get_millimeters() / 1000;
        }
 
        unsigned int get_inches () const {
            return this->get_microseconds() / 148;
        }
 
        unsigned int get_microseconds () const {
            return this->get_clock_ticks() / MICROSECOND;
        }
 
#ifdef PROPWARE_TEST
        virtual
#endif
 
        unsigned int get_clock_ticks () const {
            this->m_trigger.set_dir_out();
            this->m_trigger.set();
            waitcnt(20 * MICROSECOND + CNT); // The spec for the ping sensor is 2us, but 20us is the fastest at CMM mode
            this->m_trigger.clear();
 
            this->m_echo.set_dir_in();
            waitpeq(this->m_echo.get_mask(), this->m_echo.get_mask());
            const uint32_t start = CNT;
            waitpne(this->m_echo.get_mask(), this->m_echo.get_mask());
            return CNT - start;
        }
 
    private:
        PropWare::Pin m_trigger;
        PropWare::Pin m_echo;
};
 
};