From 256e96afc33aa76f7eadaa9727e487f487ba7e4a Mon Sep 17 00:00:00 2001
From: MightyPork <ondra@ondrovo.com>
Date: Thu, 30 Apr 2015 02:47:15 +0200
Subject: [PATCH] sonar example

---
 examples/Makefile       |  4 +-
 examples/sonar_simple.c | 88 +++++++++++++++++++++++++++++++++++++++++
 2 files changed, 90 insertions(+), 2 deletions(-)
 create mode 100644 examples/sonar_simple.c

diff --git a/examples/Makefile b/examples/Makefile
index ded8c57..ace5778 100644
--- a/examples/Makefile
+++ b/examples/Makefile
@@ -11,14 +11,14 @@ EFUSE = 0x05
 
 ## === Source files ===
 # Main C file
-MAIN = lcd_test.c
+MAIN = sonar_simple.c
 # Extra C files in this folder
 LOCAL_SOURCE =
 
 # Library directory (with C files)
 EXTRA_SOURCE_DIR = lib/
 # C files in the library directory
-EXTRA_SOURCE_FILES = uart.c lcd.c
+EXTRA_SOURCE_FILES = uart.c lcd.c sonar.c uart_ansi.c
 
 
 ## === Programmer ===
diff --git a/examples/sonar_simple.c b/examples/sonar_simple.c
new file mode 100644
index 0000000..fceff97
--- /dev/null
+++ b/examples/sonar_simple.c
@@ -0,0 +1,88 @@
+//
+// Basic Sonar example
+//
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <util/delay.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "lib/uart.h"
+#include "lib/arduino_pins.h"
+#include "lib/sonar.h"
+
+
+
+// All PCINT vectors must call sonar_handle_pci
+ISR(PCINT0_vect)
+{
+	if (sonar_handle_pci()) return;
+
+	// Here you can do your other stuff
+}
+
+// This way, they are linked to PCINT0
+// so we can avoid code duplication
+ISR(PCINT1_vect, ISR_ALIASOF(PCINT0_vect));
+ISR(PCINT2_vect, ISR_ALIASOF(PCINT0_vect));
+
+
+
+// Timer overflow - if sonar has a timeout -> 0xFFFF in result.
+ISR(TIMER1_OVF_vect)
+{
+	if (sonar_handle_t1ovf()) return;
+
+	// ...
+}
+
+
+
+
+void main()
+{
+	// Init UART communication
+	uart_init(9600);
+
+
+	// Create and init Sonar instance
+	sonar_t so;
+
+	// Args: pointer to your sonar_t, and 2 pin aliases - Trig & Echo
+	sonar_init(&so, A0, A1);
+
+	// You can have more than one sonar connected, but only one can measure at a time
+
+
+	// Allow interrupts
+	sei();
+
+
+	while(1) {
+
+		// Measure
+		sonar_start(&so);
+
+		while(sonar_busy()) {
+			// Sonar is asynchronous
+			// Here we just wait for it to complete
+		}
+
+		int16_t res = sonar_result();
+
+
+
+		// Print
+		if (res < 0) {
+			uart_puts("NO OBSTACLES\r\n");
+		} else {
+			uart_puti(res, 1); // one decimal place
+			uart_puts(" cm\r\n");
+		}
+
+
+		// a delay...
+		_delay_ms(500);
+	}
+}