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