porklib: Simple library for programming Arduino in C
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avr-lib/examples/sonar_simple.c

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1.3 KiB

//
// 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);
}
}