44 lines
867 B
C++
44 lines
867 B
C++
#include "distancethread.h"
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#include <wiringPi.h>
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volatile unsigned int timestampHigh = 0;
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volatile unsigned int pulseLength = 0;
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DistanceThread::DistanceThread()
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{
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wiringPiSetup();
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pinMode(m_triggerPin, OUTPUT);
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pinMode(m_echoPin, INPUT);
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}
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void DistanceThread::run()
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{
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wiringPiISR(m_echoPin, INT_EDGE_BOTH, []
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{
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if (digitalRead(29) == HIGH)
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{
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timestampHigh = micros();
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}
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else if (timestampHigh != 0)
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{
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pulseLength = micros() - timestampHigh;
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timestampHigh = 0;
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}
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});
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while (true)
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{
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digitalWrite(m_triggerPin, HIGH);
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delayMicroseconds(10);
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digitalWrite(m_triggerPin, LOW);
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delayMicroseconds(40);
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if (pulseLength < 25e3)
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{
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emit distanceUpdated(pulseLength / 0.58);
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}
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delay(100);
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}
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}
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