static void writereg(uint8_t reg, uint8_t val) {
ss(true);
sendrecv(reg);
sendrecv(val);
ss(false);
util_delay(100);
}
static uint8_t readreg(uint8_t reg) {
ss(true);
sendrecv(reg | (1 << 7));
uint8_t val = sendrecv(0);
ss(false);
util_delay(100);
return val;
}
void us_trig(void) // Ultrasonic trigger, BLOCKING
{
US_PORT->DATA |= (1<<US_TRIG); //set PIO0_2 high
util_delay(15); //"sleep" for 15 us (Pulse cannot be <10us!)
US_PORT->DATA &= ~(1<<US_TRIG); //set PIO0_2 low
while ((US_PORT->DATA & (1<<US_ECHO)) == 0); //while pulse is travelling
us_counter = 0; // pulse is incoming, so we add 1
us_state = STATE_COUNTING;
}
/* Wait a little */
void util_wait( void )
{
util_delay(0, 10000000);
} /* End of 'util_wait' function */
void hal_delay(delay)
{
util_delay(delay);
}
