saltylab-firmware

History

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

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>

2026-03-02 12:22:09 -05:00

test_audio.py

feat(audio): I2S3 audio amplifier driver — Issue #143

2026-03-02 10:34:35 -05:00

test_bno055_data.py

feat(firmware): BNO055 NDOF IMU driver on I2C1 (Issue #135 )

2026-03-02 09:40:18 -05:00

test_crsf_frames.py

feat(rc): CRSF/ELRS RC integration — telemetry uplink + channel fix (Issue #103 )

2026-03-02 08:35:48 -05:00

test_ina219.py

feat: Add INA219 dual motor current monitor driver (Issue #214 )