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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,60 +1,58 @@ | ||
| #include <stdio.h> | ||
| #include <stdlib.h> | ||
| #include <string.h> | ||
|
|
||
| #include "freertos/FreeRTOS.h" | ||
| #include "freertos/task.h" | ||
| #include "driver/gpio.h" | ||
| #include "esp_err.h" | ||
| #include "esp_log.h" | ||
| #include "esp_system.h" | ||
|
|
||
| #include "ultrasonic.h" | ||
| #include "driver/dac.h" | ||
|
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| #define MAX_DISTANCE_CM 450 // 5m max | ||
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|
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| #define GPIO_TRIGGER 22 | ||
| #define GPIO_ECHO 23 | ||
| void ultrasonic(void *pvParamters) | ||
| { | ||
| ultrasonic_sensor_t sensor = { | ||
| .trigger_pin = GPIO_TRIGGER, | ||
| .echo_pin = GPIO_ECHO | ||
| }; | ||
|
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| ultrasonic_init(&sensor); | ||
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| while (true) { | ||
| uint32_t distance; | ||
| esp_err_t res = ultrasonic_measure_cm(&sensor, MAX_DISTANCE_CM, &distance); | ||
| if (res != ESP_OK) { | ||
| printf("Error: "); | ||
| switch (res) { | ||
| case ESP_ERR_ULTRASONIC_PING: | ||
| printf("Cannot ping (device is in invalid state)\n"); | ||
| break; | ||
| case ESP_ERR_ULTRASONIC_PING_TIMEOUT: | ||
| printf("Ping timeout (no device found)\n"); | ||
| break; | ||
| case ESP_ERR_ULTRASONIC_ECHO_TIMEOUT: | ||
| printf("Echo timeout (i.e. distance too big)\n"); | ||
| break; | ||
| default: | ||
| printf("%d\n", res); | ||
| } | ||
| } else { | ||
| printf("Distance: %d cm, %.02f m\n", distance, distance / 100.0); | ||
| } | ||
| vTaskDelay(5000 / portTICK_PERIOD_MS); | ||
| } | ||
| } | ||
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| void app_main() | ||
| { | ||
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| xTaskCreate(ultrasonic, "ultrasonic", 2048, NULL, 5, NULL); | ||
| } | ||
|
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| #include <stdio.h> | ||
| #include <stdlib.h> | ||
| #include <string.h> | ||
|
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| #include "freertos/FreeRTOS.h" | ||
| #include "freertos/task.h" | ||
| #include "esp_err.h" | ||
| #include "esp_log.h" | ||
| #include "esp_system.h" | ||
|
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| #include "ultrasonic.h" | ||
|
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| #define MAX_DISTANCE_CM 450 // 5m max | ||
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|
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| #define GPIO_TRIGGER 22 | ||
| #define GPIO_ECHO 23 | ||
| void ultrasonic(void *pvParamters) | ||
| { | ||
| ultrasonic_sensor_t sensor = { | ||
| .trigger_pin = GPIO_TRIGGER, | ||
| .echo_pin = GPIO_ECHO | ||
| }; | ||
|
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| ultrasonic_init(&sensor); | ||
|
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| while (true) { | ||
| uint32_t distance; | ||
| esp_err_t res = ultrasonic_measure_cm(&sensor, MAX_DISTANCE_CM, &distance); | ||
| if (res != ESP_OK) { | ||
| printf("Error: "); | ||
| switch (res) { | ||
| case ESP_ERR_ULTRASONIC_PING: | ||
| printf("Cannot ping (device is in invalid state)\n"); | ||
| break; | ||
| case ESP_ERR_ULTRASONIC_PING_TIMEOUT: | ||
| printf("Ping timeout (no device found)\n"); | ||
| break; | ||
| case ESP_ERR_ULTRASONIC_ECHO_TIMEOUT: | ||
| printf("Echo timeout (i.e. distance too big)\n"); | ||
| break; | ||
| default: | ||
| printf("%d\n", res); | ||
| } | ||
| } else { | ||
| printf("Distance: %ld cm, %.02f m\n", distance, distance / 100.0); | ||
| } | ||
| vTaskDelay(5000 / portTICK_PERIOD_MS); | ||
| } | ||
| } | ||
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| void app_main() | ||
| { | ||
|
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| xTaskCreate(ultrasonic, "ultrasonic", 2048, NULL, 5, NULL); | ||
| } | ||
|
|
165 changes: 81 additions & 84 deletions
165
examples/offline_&_deprecated/idf_esp32/main/ultrasonic.c
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,84 +1,81 @@ | ||
| /** | ||
| * @file ultrasonic.c | ||
| * | ||
| * ESP-IDF driver for ultrasonic range meters, e.g. HC-SR04, HY-SRF05 and so on | ||
| * | ||
| * Ported from esp-open-rtos | ||
| * Copyright (C) 2016, 2018 Ruslan V. Uss <[email protected]> | ||
| * BSD Licensed as described in the file LICENSE | ||
| */ | ||
| #include "ultrasonic.h" | ||
| #include <freertos/FreeRTOS.h> | ||
| #include <freertos/task.h> | ||
| #include <sys/time.h> | ||
|
|
||
| #define TRIGGER_LOW_DELAY 4 | ||
| #define TRIGGER_HIGH_DELAY 10 | ||
| #define PING_TIMEOUT 6000 | ||
| #define ROUNDTRIP 58 | ||
|
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| static portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED; | ||
|
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| static inline uint32_t get_time_us() | ||
| { | ||
| struct timeval tv; | ||
| gettimeofday(&tv, NULL); | ||
| return tv.tv_usec; | ||
| } | ||
|
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| #define timeout_expired(start, len) ((uint32_t)(get_time_us() - (start)) >= (len)) | ||
|
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| #define RETURN_CRTCAL(MUX, RES) do { portEXIT_CRITICAL(&MUX); return RES; } while(0) | ||
|
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| void ultrasonic_init(const ultrasonic_sensor_t *dev) | ||
| { | ||
| gpio_pad_select_gpio( dev->trigger_pin ); | ||
| gpio_pad_select_gpio( dev->echo_pin ); | ||
| gpio_set_direction(dev->trigger_pin, GPIO_MODE_OUTPUT); | ||
| gpio_set_direction(dev->echo_pin, GPIO_MODE_INPUT); | ||
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| gpio_set_level(dev->trigger_pin, 0); | ||
| } | ||
|
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| esp_err_t ultrasonic_measure_cm(const ultrasonic_sensor_t *dev, uint32_t max_distance, uint32_t *distance) | ||
| { | ||
| if (!distance) | ||
| return ESP_ERR_INVALID_ARG; | ||
|
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| portENTER_CRITICAL(&mux); | ||
|
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| // Ping: Low for 2..4 us, then high 10 us | ||
| gpio_set_level(dev->trigger_pin, 0); | ||
| ets_delay_us(TRIGGER_LOW_DELAY); | ||
| gpio_set_level(dev->trigger_pin, 1); | ||
| ets_delay_us(TRIGGER_HIGH_DELAY); | ||
| gpio_set_level(dev->trigger_pin, 0); | ||
|
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| // Previous ping isn't ended | ||
| if (gpio_get_level(dev->echo_pin)) | ||
| RETURN_CRTCAL(mux, ESP_ERR_ULTRASONIC_PING); | ||
|
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| // Wait for echo | ||
| uint32_t start = get_time_us(); | ||
| while (!gpio_get_level(dev->echo_pin)) | ||
| { | ||
| if (timeout_expired(start, PING_TIMEOUT)) | ||
| RETURN_CRTCAL(mux, ESP_ERR_ULTRASONIC_PING_TIMEOUT); | ||
| } | ||
|
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| // got echo, measuring | ||
| uint32_t echo_start = get_time_us(); | ||
| uint32_t time = echo_start; | ||
| uint32_t meas_timeout = echo_start + max_distance * ROUNDTRIP; | ||
| while (gpio_get_level(dev->echo_pin)) | ||
| { | ||
| time = get_time_us(); | ||
| if (timeout_expired(echo_start, meas_timeout)) | ||
| RETURN_CRTCAL(mux, ESP_ERR_ULTRASONIC_ECHO_TIMEOUT); | ||
| } | ||
| portEXIT_CRITICAL(&mux); | ||
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| *distance = (time - echo_start) / ROUNDTRIP; | ||
|
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| return ESP_OK; | ||
| } | ||
| /** | ||
| * @file ultrasonic.c | ||
| * | ||
| * ESP-IDF driver for ultrasonic range meters, e.g. HC-SR04, HY-SRF05 and so on | ||
| * | ||
| * Ported from esp-open-rtos | ||
| * Copyright (C) 2016, 2018 Ruslan V. Uss <[email protected]> | ||
| * BSD Licensed as described in the file LICENSE | ||
| */ | ||
| #include "ultrasonic.h" | ||
| #include <freertos/FreeRTOS.h> | ||
| #include <freertos/task.h> | ||
| #include <sys/time.h> | ||
|
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||
| #define TRIGGER_LOW_DELAY 4 | ||
| #define TRIGGER_HIGH_DELAY 10 | ||
| #define PING_TIMEOUT 6000 | ||
| #define ROUNDTRIP 58 | ||
|
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| static portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED; | ||
|
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| static inline uint32_t get_time_us() | ||
| { | ||
| struct timeval tv; | ||
| gettimeofday(&tv, NULL); | ||
| return tv.tv_usec; | ||
| } | ||
|
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| #define timeout_expired(start, len) ((uint32_t)(get_time_us() - (start)) >= (len)) | ||
|
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| #define RETURN_CRTCAL(MUX, RES) do { portEXIT_CRITICAL(&MUX); return RES; } while(0) | ||
|
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| void ultrasonic_init(const ultrasonic_sensor_t *dev) | ||
| { | ||
| gpio_set_direction(dev->trigger_pin, GPIO_MODE_OUTPUT); | ||
| gpio_set_direction(dev->echo_pin, GPIO_MODE_INPUT); | ||
| gpio_set_level(dev->trigger_pin, 0); | ||
| } | ||
|
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| esp_err_t ultrasonic_measure_cm(const ultrasonic_sensor_t *dev, uint32_t max_distance, uint32_t *distance) | ||
| { | ||
| if (!distance) | ||
| return ESP_ERR_INVALID_ARG; | ||
|
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| portENTER_CRITICAL(&mux); | ||
|
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| // Ping: Low for 2..4 us, then high 10 us | ||
| gpio_set_level(dev->trigger_pin, 0); | ||
| esp_rom_delay_us(TRIGGER_LOW_DELAY); | ||
| gpio_set_level(dev->trigger_pin, 1); | ||
| esp_rom_delay_us(TRIGGER_HIGH_DELAY); | ||
| gpio_set_level(dev->trigger_pin, 0); | ||
|
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| // Previous ping isn't ended | ||
| if (gpio_get_level(dev->echo_pin)) | ||
| RETURN_CRTCAL(mux, ESP_ERR_ULTRASONIC_PING); | ||
|
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| // Wait for echo | ||
| uint32_t start = get_time_us(); | ||
| while (!gpio_get_level(dev->echo_pin)) | ||
| { | ||
| if (timeout_expired(start, PING_TIMEOUT)) | ||
| RETURN_CRTCAL(mux, ESP_ERR_ULTRASONIC_PING_TIMEOUT); | ||
| } | ||
|
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| // got echo, measuring | ||
| uint32_t echo_start = get_time_us(); | ||
| uint32_t time = echo_start; | ||
| uint32_t meas_timeout = echo_start + max_distance * ROUNDTRIP; | ||
| while (gpio_get_level(dev->echo_pin)) | ||
| { | ||
| time = get_time_us(); | ||
| if (timeout_expired(echo_start, meas_timeout)) | ||
| RETURN_CRTCAL(mux, ESP_ERR_ULTRASONIC_ECHO_TIMEOUT); | ||
| } | ||
| portEXIT_CRITICAL(&mux); | ||
|
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| *distance = (time - echo_start) / ROUNDTRIP; | ||
|
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| return ESP_OK; | ||
| } |
102 changes: 51 additions & 51 deletions
102
examples/offline_&_deprecated/idf_esp32/main/ultrasonic.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,51 +1,51 @@ | ||
| /** | ||
| * @file ultrasonic.h | ||
| * | ||
| * ESP-IDF driver for ultrasonic range meters, e.g. HC-SR04, HY-SRF05 and so on | ||
| * | ||
| * Ported from esp-open-rtos | ||
| * Copyright (C) 2016, 2018 Ruslan V. Uss <[email protected]> | ||
| * BSD Licensed as described in the file LICENSE | ||
| */ | ||
| #ifndef __ULTRASONIC_H__ | ||
| #define __ULTRASONIC_H__ | ||
|
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| #include <driver/gpio.h> | ||
| #include <driver/dac.h> | ||
|
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
|
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| #define ESP_ERR_ULTRASONIC_PING 0x200 | ||
| #define ESP_ERR_ULTRASONIC_PING_TIMEOUT 0x201 | ||
| #define ESP_ERR_ULTRASONIC_ECHO_TIMEOUT 0x202 | ||
|
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||
| /** | ||
| * Device descriptor | ||
| */ | ||
| typedef struct | ||
| { | ||
| gpio_num_t trigger_pin; | ||
| gpio_num_t echo_pin; | ||
| } ultrasonic_sensor_t; | ||
|
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| /** | ||
| * Init ranging module | ||
| * \param dev Pointer to the device descriptor | ||
| */ | ||
| void ultrasonic_init(const ultrasonic_sensor_t *dev); | ||
|
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| /** | ||
| * Measure distance | ||
| * \param dev Pointer to the device descriptor | ||
| * \param max_distance Maximal distance to measure, centimeters | ||
| * \return Distance in centimeters or ULTRASONIC_ERROR_xxx if error occured | ||
| */ | ||
| esp_err_t ultrasonic_measure_cm(const ultrasonic_sensor_t *dev, uint32_t max_distance, uint32_t *distance); | ||
|
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
|
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| #endif /* __ULTRASONIC_H__ */ | ||
| /** | ||
| * @file ultrasonic.h | ||
| * | ||
| * ESP-IDF driver for ultrasonic range meters, e.g. HC-SR04, HY-SRF05 and so on | ||
| * | ||
| * Ported from esp-open-rtos | ||
| * Copyright (C) 2016, 2018 Ruslan V. Uss <[email protected]> | ||
| * BSD Licensed as described in the file LICENSE | ||
| */ | ||
| #ifndef __ULTRASONIC_H__ | ||
| #define __ULTRASONIC_H__ | ||
|
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| #include <driver/gpio.h> | ||
| #include "driver/dac_oneshot.h" | ||
|
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
|
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| #define ESP_ERR_ULTRASONIC_PING 0x200 | ||
| #define ESP_ERR_ULTRASONIC_PING_TIMEOUT 0x201 | ||
| #define ESP_ERR_ULTRASONIC_ECHO_TIMEOUT 0x202 | ||
|
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| /** | ||
| * Device descriptor | ||
| */ | ||
| typedef struct | ||
| { | ||
| gpio_num_t trigger_pin; | ||
| gpio_num_t echo_pin; | ||
| } ultrasonic_sensor_t; | ||
|
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| /** | ||
| * Init ranging module | ||
| * \param dev Pointer to the device descriptor | ||
| */ | ||
| void ultrasonic_init(const ultrasonic_sensor_t *dev); | ||
|
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||
| /** | ||
| * Measure distance | ||
| * \param dev Pointer to the device descriptor | ||
| * \param max_distance Maximal distance to measure, centimeters | ||
| * \return Distance in centimeters or ULTRASONIC_ERROR_xxx if error occured | ||
| */ | ||
| esp_err_t ultrasonic_measure_cm(const ultrasonic_sensor_t *dev, uint32_t max_distance, uint32_t *distance); | ||
|
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
|
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| #endif /* __ULTRASONIC_H__ */ |