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63 lines
857 B
63 lines
857 B
//
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// Basic Sonar example
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//
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include "lib/iopins.h"
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#include "lib/sonar.h"
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#include "lib/stream.h"
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#include "lib/lcd.h"
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// Sonar interrupts
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ISR(PCINT0_vect)
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{
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if (sonar_handle_pci()) return;
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}
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ISR(PCINT1_vect, ISR_ALIASOF(PCINT0_vect));
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ISR(PCINT2_vect, ISR_ALIASOF(PCINT0_vect));
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ISR(TIMER1_OVF_vect)
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{
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if (sonar_handle_t1ovf()) return;
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}
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void main()
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{
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lcd_init();
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// Init sonar
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sonar_t so;
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sonar_init(&so, A0, A1);
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sei();
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while(1) {
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// Measure
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sonar_start(&so);
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while(sonar_busy);
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int16_t res = sonar_result;
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// Print
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lcd_clear();
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if (sonar_result < 0) {
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put_str(lcd, "---");
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} else {
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put_i16f(lcd, res, 1); // one decimal place
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put_str(lcd, " cm");
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}
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// a delay...
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_delay_ms(200);
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}
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}
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