mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-26 01:35:35 +03:00
45 lines
1.7 KiB
C
45 lines
1.7 KiB
C
/*
|
|
* This file is part of Cleanflight.
|
|
*
|
|
* Cleanflight is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* Cleanflight is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "platform.h"
|
|
|
|
typedef struct sonarHardware_s {
|
|
uint16_t trigger_pin;
|
|
uint16_t echo_pin;
|
|
uint32_t exti_line;
|
|
uint8_t exti_pin_source;
|
|
IRQn_Type exti_irqn;
|
|
} sonarHardware_t;
|
|
|
|
typedef struct sonarRange_s {
|
|
int16_t maxRangeCm;
|
|
// these are full detection cone angles, maximum tilt is half of this
|
|
int16_t detectionConeDeciDegrees; // detection cone angle as in HC-SR04 device spec
|
|
int16_t detectionConeExtendedDeciDegrees; // device spec is conservative, in practice have slightly larger detection cone
|
|
} sonarRange_t;
|
|
|
|
#define SONAR_GPIO GPIOB
|
|
|
|
#define HCSR04_MAX_RANGE_CM 400 // 4m, from HC-SR04 spec sheet
|
|
#define HCSR04_DETECTION_CONE_DECIDEGREES 300 // recommended cone angle30 degrees, from HC-SR04 spec sheet
|
|
#define HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES 450 // in practice 45 degrees seems to work well
|
|
|
|
void hcsr04_init(const sonarHardware_t *sonarHardware, sonarRange_t *sonarRange);
|
|
void hcsr04_start_reading(void);
|
|
int32_t hcsr04_get_distance(void);
|