sl-jetson
cea3eaff97
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers - can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE) - test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions - All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced: * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO * Device paths: /dev/stm32-bridge → /dev/esp32-io * Node names: stm32_serial_bridge → esp32_io_serial_bridge * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io - C/C++ src/include/lib/test files: added DEPRECATED header comment - Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test, saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all chassis, docs, scripts, and project files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
103 lines
3.3 KiB
C
103 lines
3.3 KiB
C
/* DEPRECATED: STM32/Mamba firmware -- replaced by ESP32-S3. Do not modify. */
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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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