Replace firmware implementation of HCSR04 (closes #208)

pslab/external/hcsr04.py

@@ -0,0 +1,118 @@
+"""Ultrasonic distance sensors."""
+import time
+
+from pslab.instrument.logic_analyzer import LogicAnalyzer
+from pslab.instrument.waveform_generator import PWMGenerator
+from pslab.serial_handler import SerialHandler
+
+
+class HCSR04(LogicAnalyzer, PWMGenerator):
+    """Read data from ultrasonic distance sensor HC-SR04/HC-SR05.
+
+    These sensors can measure distances between 2 cm to 4 m (SR04) / 4.5 m
+    (SR05).
+
+    Sensors must have separate trigger and echo pins. First a 10 µs pulse is
+    output on the trigger pin. The trigger pin must be connected to the TRIG
+    pin on the sensor prior to use.
+
+    Upon receiving this pulse, the sensor emits a sequence of sound pulses, and
+    the logic level of its echo pin is also set high.  The logic level goes LOW
+    when the sound packet returns to the sensor, or when a timeout occurs.
+    Timeout occurs if no echo is received within the time slot determinded by
+    the sensor's maximum range.
+
+    The ultrasound sensor outputs a series of eight sound pulses at 40 kHz,
+    which corresponds to a time period of 25 µs per pulse. These pulses reflect
+    off of the nearest object in front of the sensor, and return to it. The
+    time between sending and receiving of the pulse packet is used to estimate
+    the distance. If the reflecting object is either too far away or absorbs
+    sound, less than eight pulses may be received, and this can cause a
+    measurement error of 25 µs which corresponds to 8 mm.
+
+    Parameters
+    ----------
+    device : :class:`SerialHandler`
+        Serial connection to PSLab device.
+    trig : str, optional
+        Name of the trigger pin. Defaults to SQ1.
+    echo : str, optional
+        Name of the echo pin. Defaults to LA1.
+
+    Example
+    -------
+    In this example the sensor's Vcc pin is connected to the PSLab's PV1 pin,
+    the Trig pin is connected to SQ1, Echo to LA1, and Gnd to GND.
+
+    >>> import pslab
+    >>> from pslab.external.hcsr04 import HCSR04
+    >>> psl = pslab.ScienceLab()
+    >>> distance_sensor = HCSR04(psl)
+    >>> psl.power_supply.pv1 = 5  # Power the sensor.
+    >>> distance_sensor.estimate_distance()
+    2.36666667
+    """
+
+    def __init__(
+        self,
+        device: SerialHandler,
+        trig: str = "SQ1",
+        echo: str = "LA1",
+    ):
+        self._device = device
+        LogicAnalyzer.__init__(self, self._device)
+        PWMGenerator.__init__(self, self._device)
+        self._trig = trig
+        self._echo = echo
+        self._measure_period = 60e-3  # Minimum recommended by datasheet.
+        self._trigger_pulse_length = 10e-6
+
+    def estimate_distance(
+        self,
+        average: int = 10,
+        speed_of_sound: float = 340,
+    ) -> float:
+        """Estimate distance to an object.
+
+        Parameters
+        ----------
+        average : int, optional
+            Number of times to repeat the measurement and average the results.
+            Defaults to 10.
+        speed_of_sound : float, optional
+            Speed of sound in air. Defaults to 340 m/s.
+
+        Returns
+        -------
+        distance : float
+            Distance to object in meters.
+
+        Raises
+        ------
+        RuntimeError if the ECHO pin is not LOW at start of measurement.
+        TimeoutError if the end of the ECHO pulse is not detected (i.e. the
+                     object is too far away).
+        """
+        self.capture(
+            channels=self._echo,
+            events=2 * average,
+            block=False,
+        )
+        self.generate(
+            channels=self._trig,
+            frequency=self._measure_period**-1,
+            duty_cycles=self._trigger_pulse_length / self._measure_period,
+        )
+        time.sleep(self._measure_period * average)
+        self.set_state(**{self._trig.lower(): 0})
+        (t,) = self.fetch_data()
+        self._sanity_check(len(t), 2 * average)
+        high_times = t[::2] - t[1::2]
+        return speed_of_sound * high_times.mean() / 2 * 1e-6
+
+    def _sanity_check(self, events: int, expected_events: int):
+        if self.get_initial_states()[self._echo]:
+            raise RuntimeError("ECHO pin was HIGH when measurement started.")
+
+        if events < expected_events:
+            raise TimeoutError

tox.ini

@@ -21,7 +21,7 @@ commands = coverage run --source pslab -m pytest --record
 [testenv:lint]
 deps = -rlint-requirements.txt
 setenv =
-    INCLUDE_PSL_FILES = pslab/bus/ pslab/instrument/ pslab/serial_handler.py pslab/cli.py pslab/external/motor.py pslab/external/gas_sensor.py
+    INCLUDE_PSL_FILES = pslab/bus/ pslab/instrument/ pslab/serial_handler.py pslab/cli.py pslab/external/motor.py pslab/external/gas_sensor.py pslab/external/hcsr04.py
 commands =
     black --check {env:INCLUDE_PSL_FILES}
     flake8 --show-source {env:INCLUDE_PSL_FILES}