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Code Issues Wiki Activity

Cleanup sonar driver

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* spend less time in interrupt handler.
* avoid pointer usage to prevent the inclination adjusted reading being
replaced by the interrupt handler's calculation.
* only calculate the actual distance based on the measurement when
required.
This commit is contained in:
Dominic Clifton 2014-12-24 01:30:47 +00:00
parent bd29298197
commit db14bd80cb
5 changed files with 38 additions and 32 deletions
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8
src/main/sensors/sonar.c
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@ -33,7 +33,7 @@
#include "sensors/sensors.h"
#include "sensors/sonar.h"
int32_t sonarAlt = -1; // in cm , -1 indicate sonar is not in range
int32_t sonarAlt = -1; // in cm , -1 indicate sonar is not in range - inclination adjusted by imu
#ifdef SONAR
@ -79,7 +79,7 @@ void Sonar_init(void)
void Sonar_update(void)
{
hcsr04_get_distance(&sonarAlt);
hcsr04_start_reading();
}
int32_t sonarCalculateAltitude(int32_t sonarAlt, int16_t tiltAngle)
@ -91,4 +91,8 @@ int32_t sonarCalculateAltitude(int32_t sonarAlt, int16_t tiltAngle)
return sonarAlt * (900.0f - tiltAngle) / 900.0f;
}
int32_t sonarRead(void) {
return hcsr04_get_distance();
}
#endif