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NovaGlide ultrasonic

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Alex B.
2026-01-04 19:16:02 -05:00
parent 37587c602f
commit 90a62dfd79
1 changed files with 1 additions and 19 deletions
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ESP-IDF_NovaGlide/subsystems/sensors/ultrasonic_sensor.c
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@@ -28,25 +28,7 @@ static const char *TAG = "ULTRASONIC";
static esp_err_t ultrasonic_i2c_read(ultrasonic_system_t *self, float *distance_cm) { uint8_t cmd = 0x01; // start measurement uint8_t data[2]; // Send measurement command esp_err_t err = i2c_master_transmit(self->dev, &cmd, 1, pdMS_TO_TICKS(20)); if (err != ESP_OK) { return err; } // Wait for measurement to complete vTaskDelay(pdMS_TO_TICKS(80)); // Read 2 bytes (distance in mm) err = i2c_master_receive(self->dev, data, 2, pdMS_TO_TICKS(20)); if (err != ESP_OK) { return err; } uint16_t raw_mm = (data[0] << 8) | data[1]; *distance_cm = raw_mm / 10.0f; // mm → cm return ESP_OK; }
static void ultrasonic_update_impl(ultrasonic_system_t *self, TickType_t now)
{
static TickType_t last_read = 0;
if ((now - last_read) >= pdMS_TO_TICKS(1000)) {
float distance;
esp_err_t res = ultrasonic_i2c_read(&distance);
if (res == ESP_OK) {
self->distance_cm = distance;
ESP_LOGI(TAG, "Distance: %.2f cm", distance);
} else {
ESP_LOGW(TAG, "I2C read failed: %s", esp_err_to_name(res));
}
last_read = now;
}
}
static void ultrasonic_update_impl(ultrasonic_system_t *self, TickType_t now) { static TickType_t last_read = 0; if ((now - last_read) >= pdMS_TO_TICKS(1000)) { float distance = 0; esp_err_t res = ultrasonic_i2c_read(self, &distance); if (res == ESP_OK) { self->distance_cm = distance; ESP_LOGI(TAG, "Distance: %.2f cm", distance); } else { ESP_LOGW(TAG, "I2C read failed: %s", esp_err_to_name(res)); } last_read = now; } }
/*void ultrasonic_system_init(ultrasonic_system_t *sys) {