ultrasonic in the library

Author: gbr1

.gitignore

@@ -0,0 +1,26 @@
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk

library.properties

@@ -8,4 +8,4 @@ category=Communication
 url=https://github.com/gbr1/Arduino_ScienceKitCarrier
 architectures=mbed,mbed_nano
 includes=Arduino_ScienceKitCarrier.h
-depends=Arduino_APDS9960,ArduinoBLE,WiFiNINA,INA2xx,Arduino_BMI270_BMM150,BSEC Software Library
+depends=Arduino_APDS9960,ArduinoBLE,WiFiNINA,INA2xx,Arduino_BMI270_BMM150,BSEC Software Library,Arduino_GroveI2C_Ultrasonic

src/Arduino_ScienceKitCarrier.cpp

@@ -68,6 +68,11 @@ ScienceKitCarrier::ScienceKitCarrier(){
   range1=0;
   range2=0;
 
+  ultrasonic = new Arduino_GroveI2C_Ultrasonic();
+  distance=0.0;
+  travel_time=0.0;
+  ultrasonic_is_connected=false;
+
 
   thread_activity_led = new rtos::Thread();
   thread_update_bme = new rtos::Thread();
@@ -90,6 +95,8 @@ int ScienceKitCarrier::begin(const bool auxiliary_threads){
 
   Wire.begin();
 
+  // most of begin functions return always 0, it is a code-style or future implementation
+
   // let's start apds89960
   if (beginAPDS()!=0){
     return ERR_BEGIN_APDS;
@@ -100,7 +107,7 @@ int ScienceKitCarrier::begin(const bool auxiliary_threads){
     return ERR_BEGIN_INA;
   }
 
-  // resistance pin
+  // let's start resistance measurement
   if (beginResistance()!=0){
     return ERR_BEGIN_RESISTANCE;
   }
@@ -115,6 +122,12 @@ int ScienceKitCarrier::begin(const bool auxiliary_threads){
     return ERR_BEGIN_FUNCTION_GENERATOR_CONTROLLER;
   }
 
+  // let's start ultrasonic and check if it is connected
+  if (beginUltrasonic()!=0){
+    return ERR_BEGIN_ULTRASONIC;
+  }
+
+
   // let's start activity led and bme688
   if (auxiliary_threads){
     startAuxiliaryThreads();
@@ -136,11 +149,15 @@ void ScienceKitCarrier::update(const bool roundrobin){
     updateINA();
     updateResistance();
     updateIMU();
+
+    // update external
+    updateUltrasonic();
   }
   else{
     switch (round_robin_index){
       case 0: 
-        updateAnalogInput();
+        updateAnalogInput();    // it is very fast (about 2ms)
+        updateUltrasonic();     // requires about 5ms when not connected
         break;
       case 1:
         updateAPDS();
@@ -602,6 +619,37 @@ uint8_t ScienceKitCarrier::getRange2(){
   return range2;
 }
 
+/********************************************************************/
+/*                        Ultrasonic Sensor                         */
+/********************************************************************/
+
+int ScienceKitCarrier::beginUltrasonic(){
+  ultrasonic->begin();
+  updateUltrasonic();
+}
+
+void ScienceKitCarrier::updateUltrasonic(){
+  if (ultrasonic->checkConnection()){
+    ultrasonic_is_connected=true;
+    distance=ultrasonic->getMeters();
+    travel_time=ultrasonic->getTravelTime();
+  }
+  else{
+    ultrasonic_is_connected=false;
+  }
+}
+
+float ScienceKitCarrier::getDistance(){
+  return distance;
+}
+
+float ScienceKitCarrier::getTravelTime(){
+  return travel_time;
+}
+
+bool ScienceKitCarrier::getUltrasonicIsConnected(){
+  return ultrasonic_is_connected;
+}
 
 
 

src/Arduino_ScienceKitCarrier.h

@@ -29,6 +29,7 @@
 #include "INA.h"
 #include "bsec.h"
 #include "Arduino_BMI270_BMM150.h"
+#include "Arduino_GroveI2C_Ultrasonic.h"
 
 #include "./utils/function_generator_controller.h"
 #include "./utils/Arduino_ScienceKitCarrier_definitions.h"
@@ -63,6 +64,10 @@ class ScienceKitCarrier{
     FunctionGeneratorController * function_generator_controller;
     uint8_t frequency1, frequency2, phase1, phase2, range1, range2;
 
+    Arduino_GroveI2C_Ultrasonic * ultrasonic;
+    float distance, travel_time;
+    bool ultrasonic_is_connected;
+
 
     rtos::Thread * thread_activity_led;
     rtos::Thread * thread_update_bme;
@@ -166,6 +171,16 @@ class ScienceKitCarrier{
     uint8_t getPhase2();
     uint8_t getRange1();
     uint8_t getRange2();
+
+
+
+    /* Ultrasonic sensor */
+    int beginUltrasonic();
+    void updateUltrasonic();
+    float getDistance();        // meters
+    float getTravelTime();      // microseconds
+    bool getUltrasonicIsConnected();
+
 };
 
 

src/utils/Arduino_ScienceKitCarrier_definitions.h

@@ -51,6 +51,7 @@ const uint16_t MAXIMUM_AMPS{1};            // 1A
 #define ERR_BEGIN_BME -6
 #define ERR_BEGIN_RESISTANCE -7
 #define ERR_BEGIN_FUNCTION_GENERATOR_CONTROLLER -8
+#define ERR_BEGIN_ULTRASONIC -9