Go to the documentation of this file.00001 #ifndef _SONAR_H
00002 #define _SONAR_H
00003 #include "qegpioint.h"
00004
00005 #define SONAR_USPI 150
00006 #define SONAR_BIAS 300
00007
00015 class CSonar
00016 {
00017 public:
00029 CSonar(unsigned int inputPort, unsigned int outputPort);
00030 ~CSonar();
00031
00041 int Fire(bool wait=false);
00042
00046 int GetVal();
00047
00055 int RegisterCallback(void (*callback)(unsigned int inputPort, int val));
00056
00062 int UnregisterCallback();
00063
00064 private:
00065 static void Callback(unsigned int io, struct timeval *ptv, void *userPointer);
00066
00067 struct timeval m_tv0;
00068 void (*m_callback)(unsigned int outputPort, int val);
00069 unsigned int m_echoPort;
00070 unsigned int m_triggerPort;
00071 bool m_flag;
00072 bool m_valid;
00073 int m_val;
00074
00075 CQEGpioInt *m_pgpio;
00076 };
00077
00078 #endif
