int main()
{
//init the wiringPi
wiringPiSetup();
piHiPri(99);
//set up pin directions
pinMode(US_TRIGGER_PIN, OUTPUT);
pinMode(US_ECHO_PIN, INPUT);
digitalWrite(US_TRIGGER_PIN, 0);
//set up pin pullups
pullUpDnControl(US_TRIGGER_PIN, PUD_OFF);
pullUpDnControl(US_ECHO_PIN, PUD_OFF);
printf("\nGPIO config done.\r\n\r\n");
printf("\nULTRASONIC MEASURE.\r\n\r\n");
wiringPiISR (US_ECHO_PIN,INT_EDGE_RISING , echoArrived);
doTrigger();
gettimeofday(&t1, NULL);
waitEcho();
gettimeofday(&t2, NULL);
elapsedTime = (double)(t2.tv_usec - t1.tv_usec);
printf("\nULTRASONIC MEASURE DONE.\r\n\r\n");
printf("\nTIME %f us\r\n", elapsedTime);
return 0;
}
unsigned long UltrasonicProximitySensor::getDistanceInCm() const
{
unsigned long ditance_in_cm = 0;
sendTrigger();
ditance_in_cm = waitEcho();
if (ditance_in_cm <= 0 || ditance_in_cm > _max_distance_in_cm) {
return 0;
}
return ditance_in_cm;
}
