sl-mechanical
a2c554c232
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs - cad/: dimensions.scad FC params → ESP32-S3 BALANCE params - chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/ FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout - CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC - USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era) - AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE) - projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN - jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge - jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC - jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py, stm32_cmd_node.py → esp32_cmd_node.py, mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated - scripts/flash_firmware.py: DFU/STM32 → pio run -t upload - src/ include/: ARCHIVED headers added (legacy code preserved) - test/: ARCHIVED notices; STM32F722 comments marked LEGACY - ui/diagnostics_panel.html: Board/STM32 → ESP32-S3 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
103 lines
3.3 KiB
C
103 lines
3.3 KiB
C
/* ARCHIVED: Legacy STM32F722/Mamba F722S era code. NOT used in current hardware. */
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#ifndef ULTRASONIC_H
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#define ULTRASONIC_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* ultrasonic.h — HC-SR04 ultrasonic distance sensor driver (Issue #243)
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*
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* STM32F722 driver for HC-SR04 ultrasonic ranger with TIM1 input capture.
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* Trigger: PA0 (GPIO output, active high pulse 10µs)
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* Echo: PA1 (TIM1_CH2, input capture on rising/falling edges)
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*
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* Non-blocking operation: trigger measurement, get result via callback.
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* Distance calculated from echo pulse width: distance_mm = (pulse_us / 2) / 29.1
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* Typical range: 20-4000mm (accuracy ±3mm above 30mm)
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*/
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/* Ultrasonic sensor states */
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typedef enum {
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ULTRASONIC_IDLE, /* Ready for new measurement */
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ULTRASONIC_TRIGGERED, /* Trigger pulse sent, waiting for echo */
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ULTRASONIC_MEASURING, /* Echo rising edge detected, measuring */
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ULTRASONIC_COMPLETE, /* Measurement complete */
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ULTRASONIC_ERROR /* Timeout or out-of-range */
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} UltrasonicState;
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/* Measurement result callback: called when measurement completes
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* Arguments:
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* - distance_mm: measured distance in mm (0 if error/timeout)
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* - is_valid: true if measurement valid, false if timeout/error
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*/
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typedef void (*ultrasonic_callback_t)(uint16_t distance_mm, bool is_valid);
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/*
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* ultrasonic_init()
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*
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* Initialize HC-SR04 driver:
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* - PA0 as GPIO output (trigger pin)
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* - PA1 as TIM1_CH2 input capture (echo pin)
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* - Configure TIM1 for input capture on both edges (rising/falling)
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* - Enable timer interrupt for echo measurement
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*/
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void ultrasonic_init(void);
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/*
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* ultrasonic_trigger()
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*
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* Start a non-blocking distance measurement.
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* Sends 10µs trigger pulse on PA0, sets up echo measurement.
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* Measurement completes asynchronously (typically 25-300ms depending on distance).
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* Call ultrasonic_get_state() to check status or wait for callback.
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*
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* Returns: true if triggered successfully, false if still measuring previous result
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*/
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bool ultrasonic_trigger(void);
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/*
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* ultrasonic_set_callback(callback)
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*
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* Register callback to be called when measurement completes.
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* Callback receives: distance_mm (0 if error), is_valid (true if successful)
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* Callback is optional; can poll with ultrasonic_get_result() instead.
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*/
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void ultrasonic_set_callback(ultrasonic_callback_t callback);
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/*
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* ultrasonic_get_state()
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*
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* Returns current measurement state (IDLE, TRIGGERED, MEASURING, COMPLETE, ERROR).
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* Useful for non-blocking polling.
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*/
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UltrasonicState ultrasonic_get_state(void);
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/*
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* ultrasonic_get_result(distance_mm, is_valid)
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*
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* Retrieve result of last measurement (only valid when state == ULTRASONIC_COMPLETE).
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* Resets state to IDLE after reading.
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*
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* Arguments:
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* - distance_mm: pointer to store distance in mm
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* - is_valid: pointer to store validity flag
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*
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* Returns: true if result retrieved, false if no measurement available
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*/
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bool ultrasonic_get_result(uint16_t *distance_mm, bool *is_valid);
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/*
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* ultrasonic_tick(now_ms)
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*
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* Update function called periodically (recommended: every 1-10ms in main loop).
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* Handles timeout detection for echo measurement.
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* Must be called regularly for non-blocking operation.
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*
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* Arguments:
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* - now_ms: current time in milliseconds (from HAL_GetTick() or similar)
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*/
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void ultrasonic_tick(uint32_t now_ms);
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#endif /* ULTRASONIC_H */
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