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This commit is contained in:
Richie 2023-11-28 13:42:59 +08:00
parent d31f4b0ef9
commit e06898c893
3 changed files with 10 additions and 6 deletions
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8
frtos/ultrasonic_sensor/CMakeLists.txt
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@ -1,7 +1,7 @@
add_executable( add_executable(
ultrasonic_sensor ultrasonic_sensor
ultrasonic_sensor.c ultrasonic_sensor.c
) )
target_link_libraries( target_link_libraries(
ultrasonic_sensor ultrasonic_sensor
@ -12,12 +12,12 @@ target_link_libraries(
hardware_i2c hardware_i2c
FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap
hardware_pwm hardware_pwm
) )
target_include_directories(ultrasonic_sensor target_include_directories(ultrasonic_sensor
PRIVATE ../config PRIVATE ../config
../motor ../motor
) )
pico_enable_stdio_usb(ultrasonic_sensor 1) pico_enable_stdio_usb(ultrasonic_sensor 1)
pico_add_extra_outputs(ultrasonic_sensor) pico_add_extra_outputs(ultrasonic_sensor)

7
frtos/ultrasonic_sensor/ultrasonic_init.h
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@ -35,7 +35,7 @@ check_obstacle(void *pvParameters)
// Calculate the distance (in centimeters) // Calculate the distance (in centimeters)
uint32_t pulse_duration = end_time - start_time; uint32_t pulse_duration = end_time - start_time;
float distance float distance
= (pulse_duration * 0.034 / 2); // Speed of sound in cm/us = (pulse_duration * 0.034 / 2); // Speed of sound in air to cm/us
// printf("Distance: %.2f cm\n", distance); // printf("Distance: %.2f cm\n", distance);
@ -50,6 +50,11 @@ check_obstacle(void *pvParameters)
} }
} }
/**
* @brief Initialise the Ultrasonic Sensor
* @details Initialise the Ultrasonic Sensor Pins and set default collision value
*/
void void
ultrasonic_init(car_struct_t *car_struct) ultrasonic_init(car_struct_t *car_struct)
{ {

1
frtos/ultrasonic_sensor/ultrasonic_sensor.c
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@ -6,7 +6,6 @@
#include "ultrasonic_sensor.h" #include "ultrasonic_sensor.h"
#include "car_config.h" #include "car_config.h"
int int
main(void) main(void)
{ {