36 lines
819 B
C
36 lines
819 B
C
#ifndef SONAR_H
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#define SONAR_H
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#include "common.h"
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// Trigger
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#define TRIG_DDR DDRC
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#define TRIG_PORT PORTC
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#define TRIG_PIN PINC
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#define TRIG_BIT PC4
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// Echo
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#define ECHO_DDR DDRC
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#define ECHO_PORT PORTC
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#define ECHO_PIN PINC
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#define ECHO_BIT PC5
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#define SPEED_OF_SOUND 343 // (m/s)
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#define US_PER_CM 58 // Time for sound to travel distance of 1cm
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#define MAX_SONAR_RANGE 8 // Trigger + echo (m)
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#define DELAY_BETWEEN_TESTS 500 // Timeout for return signal
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#define TIMER_MAX 65535 // For 16-bit timer
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#define CYCLES_PER_US F_CPU / 1000000
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#define SONAR_TIMEOUT (F_CPU * MAX_SONAR_RANGE) / SPEED_OF_SOUND
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#define TRIG_ERROR -1
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#define ECHO_ERROR -2
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void init_sonar(void);
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void trigger_sonar(void);
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int32_t read_sonar(void);
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#endif /* SONAR_H */
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