feat: HC-SR04 ultrasonic distance sensor driver (Issue #243) #245

sl-webui · 2026-03-02T12:22:19-05:00

sl-webui commented

2026-03-02 12:22:19 -05:00

Implements STM32F7 non-blocking driver for HC-SR04 ultrasonic ranger with TIM1 input capture.

Features:

Trigger: PA0 GPIO output (10µs pulse)
Echo: PA1 TIM1_CH2 input capture (both edges)
Distance range: 20-5000mm (±3mm accuracy)
Non-blocking API with optional callback
Timeout detection (30ms max echo wait)
State machine: IDLE → TRIGGERED → MEASURING → COMPLETE/ERROR

Test Coverage:

26 passing unit tests
Distance conversion accuracy
State machine transitions
Range validation boundaries
Timeout detection
Multiple sequential measurements

Integration:

ultrasonic_init() called in main() startup
Ready for autonomous navigation/obstacle avoidance

🤖 Generated with Claude Code

Implements STM32F7 non-blocking driver for HC-SR04 ultrasonic ranger with TIM1 input capture. **Features:** - Trigger: PA0 GPIO output (10µs pulse) - Echo: PA1 TIM1_CH2 input capture (both edges) - Distance range: 20-5000mm (±3mm accuracy) - Non-blocking API with optional callback - Timeout detection (30ms max echo wait) - State machine: IDLE → TRIGGERED → MEASURING → COMPLETE/ERROR **Test Coverage:** - 26 passing unit tests - Distance conversion accuracy - State machine transitions - Range validation boundaries - Timeout detection - Multiple sequential measurements **Integration:** - ultrasonic_init() called in main() startup - Ready for autonomous navigation/obstacle avoidance 🤖 Generated with Claude Code

sl-webui added 1 commit 2026-03-02 12:22:20 -05:00

feat: Add HC-SR04 ultrasonic distance sensor driver (Issue #243 ) 34a003d0b1

Implements STM32F7 non-blocking driver for HC-SR04 ultrasonic ranger with TIM1 input capture.
Supports distance measurement via echo pulse width analysis.

Features:
- Trigger: PA0 GPIO output (10µs pulse)
- Echo: PA1 TIM1_CH2 input capture (both edges)
- TIM1 configured for 1MHz clock (1µs per count)
- Distance range: 20-5000mm (±3mm accuracy)
- Distance = (pulse_width_us / 2) / 29.1mm
- Non-blocking API with optional callback
- Timeout detection (30ms max echo wait)
- State machine: IDLE → TRIGGERED → MEASURING → COMPLETE/ERROR

API Functions:
- ultrasonic_init(): Configure GPIO and TIM1
- ultrasonic_trigger(): Start measurement
- ultrasonic_set_callback(): Register completion callback
- ultrasonic_get_state(): Query current state
- ultrasonic_get_result(): Retrieve measurement result
- ultrasonic_tick(): Periodic timeout handler

Test Suite:
- 26 passing unit tests
- Distance conversion accuracy (100mm-2000mm)
- State machine transitions
- Range validation (20-5000mm boundaries)
- Timeout detection
- Multiple sequential measurements

Integration:
- ultrasonic_init() called in main() startup after servo_init()
- Non-blocking operation suitable for autonomous navigation/obstacle avoidance

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

sl-jetson merged commit 81786f5e4e into main

2026-03-02 12:46:18 -05:00

sl-jetson referenced this issue from a commit

2026-03-02 12:46:20 -05:00

Merge pull request 'feat: HC-SR04 ultrasonic distance sensor driver (Issue #243)' (#245) from sl-firmware/issue-243-ultrasonic into main

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Reference: seb/saltylab-firmware#245