// ============================================================================ // Ultrasonic Sensor Test Code By: Jim Kemp // Powerhouse Electronics Feb. 1st, 2011 // // // ============================================================================ DigitalOut led1( LED1 ); DigitalOut led2( LED2 ); DigitalOut led3( LED3 ); DigitalOut led4( LED4 ); BusOut leds( LED1, LED2, LED3, LED4 ); // Group pins together into a bus. BusIn senRx( p21, p22, p23, p24 ); BusOut senTx( p25, p26, p27, p28 ); // Define the pins to each sensor. DigitalIn senRxL( p24 ); InterruptIn senRxLIrq( p24 ); DigitalOut senTxL( p28 ); DigitalIn senRxCL( p23 ); InterruptIn senRxCLIrq( p23 ); DigitalOut senTxCL( p27 ); DigitalIn senRxCR( p22 ); InterruptIn senRxCRIrq( p22 ); DigitalOut senTxCR( p26 ); DigitalIn senRxR( p21 ); InterruptIn senRxRIrq( p21 ); DigitalOut senTxR( p25 ); const uint8_t senCornerInit[] = { 0xE0, 0xFE, 0xFE, 0xFE, 0xE0, // 5 0xE0, 0xFE, 0xFE, 0xFE, 0xE0, // 10 0xE0, 0xE0, 0xE0, 0xE0, 0xFE, // 15 0xE0, 0xE0, 0xE0, 0xE0, 0xFE, // 20 0xE0, 0xFE, 0xE0, 0xE0, 0xFE, // 25 0xE0, 0xE0, 0xFE, 0xE0, 0xFE, // 30 0xE0, 0xFE, 0xE0, 0xFE, 0xFE, // 35 0xE0, 0xFE, 0xE0, 0xFE, 0xFE, // 40 0xE0, 0xFE, 0xE0, 0xE0, 0xE0, // 45 0xFE, 0xE0, 0xFE, 0xFE, 0xE0, // 50 0xFE, 0xFE, 0xE0, 0xFE, 0xE0, // 55 0xFE, 0xE0, 0xE0, 0xE0, 0xE0, // 60 0xE0, 0xE0, 0xE0, 0xFE, 0xFE, // 65 0xFE, 0xE0, 0xE0, 0xFE, 0xE0, // 70 0xFE, 0xE0, 0xFE, 0xE0, 0xE0, // 75 0xFE, 0xFE }; const uint8_t senMidInit[] = { 0xE0, 0xFE, 0xFE, 0xFE, 0xE0, // 5 0xE0, 0xFE, 0xFE, 0xFE, 0xE0, // 10 0xE0, 0xE0, 0xE0, 0xE0, 0xFE, // 15 0xE0, 0xE0, 0xE0, 0xE0, 0xFE, // 20 0xE0, 0xE0, 0xFE, 0xE0, 0xFE, // 25 0xE0, 0xE0, 0xFE, 0xE0, 0xFE, // 30 0xE0, 0xFE, 0xFE, 0xFE, 0xFE, // 35 0xE0, 0xFE, 0xFE, 0xFE, 0xFE, // 40 0xE0, 0xE0, 0xE0, 0xFE, 0xE0, // 45 0xFE, 0xFE, 0xFE, 0xFE, 0xE0, // 50 0xFE, 0xFE, 0xFE, 0xFE, 0xE0, // 55 0xFE, 0xE0, 0xE0, 0xE0, 0xE0, // 60 0xE0, 0xE0, 0xE0, 0xFE, 0xFE, // 65 0xFE, 0xE0, 0xE0, 0xFE, 0xE0, // 70 0xE0, 0xFE, 0xE0, 0xE0, 0xE0, // 75 0xFE, 0xFE }; const uint16_t pulE0[] = { 609, 838 }; const uint16_t pulFE[] = { 203, 1250 }; #define SIZE( a ) ( sizeof( a ) / sizeof( a[0] ) )