int sirc_code(int pin, int bits)
{
set_io_dt(CLKFREQ/1000000);
set_io_timeout(CLKFREQ/50);
unsigned int irPulse;
int irCode = 0;
if(tLimit) t = CNT;
do{
irPulse = pulse_in(pin, 0);
if(tLimit)
{
if((CNT - t) >= tLimit) return -1;
}
}while((irPulse <= 2000) || (irPulse >= 2800));
for(int i = 0; i < bits; i++)
{
irPulse = pulse_in(pin, 0);
if((irPulse > 1000) && (irPulse < 1400)) irCode |= (1 << i);
if((irPulse < 300) || (irPulse > 1400)) return -1;
if(tLimit)
{
if((CNT - t) >= tLimit) return -1;
}
}
return irCode;
}
static uint8_t ReadDigitalIr(uint8_t index)
{
uint32_t pulse;
set_output(DIGITAL_IR_PIN_START + index, OUTPUT);
usleep(10);
// units of pulse are microseconds
pulse = pulse_in(DIGITAL_IR_PIN_START + index, LOW);
// White surfaces reflect more light than black, so, when directed towards a white surface,
// the capacitor will discharge faster than it would when pointed towards a black surface.
// pulses longer than 3 seconds mean nothing was found
// shorter pulses mean no detection
// longer pulses mean detection
// might need some calibration to determine the threshold
// Convert to milliseconds
pulse /= 1000;
if (pulse <= 500 || pulse >= 3000)
{
return 0;
}
return 1;
}
int UltraSonicSensor::getDistance(){
pulse_out(pin,10);
int velocity = 331.5 + (0.6 * temperature);
int travelTime = pulse_in(pin,1);
int distance = (velocity * travelTime * 100)/(2 * 1000000);
if(2 < distance && distance < 330){
return distance;
}else{
return -1;
}
}
void ultrasonic_run()
{
while(1)
{
high(PIN_RANGE_TRIG);
waitcnt(CNT + CLKFREQ/100000); // 10 uS
low(PIN_RANGE_TRIG);
int duration = pulse_in(PIN_RANGE_ECHO, 1)/58;
if (duration > 400)
duration = 400;
range = duration;
waitcnt(CNT + CLKFREQ/17);
}
}
static float ReadUltrasonic(uint8_t addr)
{
// Set pins directions
set_direction(MUX_ADDR_START, OUTPUT);
set_direction(MUX_ADDR_START + 1, OUTPUT);
set_direction(MUX_ADDR_START+ 2, OUTPUT);
set_direction(MUX_ADDR_START + 3, OUTPUT);
set_direction(TRIG_PIN, OUTPUT);
set_direction(ECHO_PIN, INPUT);
// Set the mux based on sensor index
set_outputs(MUX_ADDR_END, MUX_ADDR_START, (int) addr);
// Pulse the trigger pin
low(TRIG_PIN);
pulse_out(TRIG_PIN, 10);
// Read in echo pulse
uint32_t pulse = pulse_in(ECHO_PIN, HIGH);
return pulse/58.0;
}
