qEcho/source/distancethread.cpp

44 lines
867 B
C++

#include "distancethread.h"
#include <wiringPi.h>
volatile unsigned int timestampHigh = 0;
volatile unsigned int pulseLength = 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 if (timestampHigh != 0)
{
pulseLength = micros() - timestampHigh;
timestampHigh = 0;
}
});
while (true)
{
digitalWrite(m_triggerPin, HIGH);
delayMicroseconds(10);
digitalWrite(m_triggerPin, LOW);
delayMicroseconds(40);
if (pulseLength < 25e3)
{
emit distanceUpdated(pulseLength / 0.58);
}
delay(100);
}
}