Initial import

2017-10-15 12:30:15 +02:00 · 2017-10-15 12:30:15 +02:00 · 94611f2381
commit 94611f2381
10 changed files with 258 additions and 0 deletions
--- a/source/distancethread.cpp
+++ b/source/distancethread.cpp
@ -0,0 +1,43 @@
+#include "distancethread.h"
+#include <wiringPi.h>
+
+volatile unsigned int timestampHigh = 0;
+volatile unsigned int timestampLow = 0;
+
+DistanceThread::DistanceThread()
+{
+    wiringPiSetup();
+    pinMode(m_triggerPin, OUTPUT);
+    pinMode(m_echoPin, INPUT);
+}
+
+void DistanceThread::run()
+{
+    wiringPiISR(m_echoPin, INT_EDGE_BOTH, []
+    {
+        if (digitalRead(29) == HIGH)
+        {
+            timestampHigh = micros();
+        }
+        else
+        {
+            timestampLow = micros();
+        }
+    });
+
+    while (true)
+    {
+        digitalWrite(m_triggerPin, HIGH);
+        delayMicroseconds(10);
+        digitalWrite(m_triggerPin, LOW);
+        delayMicroseconds(40);
+
+        unsigned int delayUS = timestampLow - timestampHigh;
+        if (delayUS < 25e3)
+        {
+            emit distanceUpdated(delayUS / 0.58);
+        }
+
+        delay(100);
+    }
+}