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116 lines
3.7 KiB
C++
116 lines
3.7 KiB
C++
#include "ultrasonic_sensor.h"
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#include "esphome/core/hal.h"
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#include "esphome/core/log.h"
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namespace esphome::ultrasonic {
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static const char *const TAG = "ultrasonic.sensor";
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static constexpr uint32_t START_TIMEOUT_US = 40000; // Maximum time to wait for echo pulse to start
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void IRAM_ATTR UltrasonicSensorStore::gpio_intr(UltrasonicSensorStore *arg) {
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uint32_t now = micros();
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if (arg->echo_pin_isr.digital_read()) {
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arg->echo_start_us = now;
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arg->echo_start = true;
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} else {
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arg->echo_end_us = now;
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arg->echo_end = true;
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}
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}
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void IRAM_ATTR UltrasonicSensorComponent::send_trigger_pulse_() {
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InterruptLock lock;
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this->store_.echo_start_us = 0;
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this->store_.echo_end_us = 0;
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this->store_.echo_start = false;
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this->store_.echo_end = false;
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this->trigger_pin_isr_.digital_write(true);
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delayMicroseconds(this->pulse_time_us_);
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this->trigger_pin_isr_.digital_write(false);
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this->measurement_pending_ = true;
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this->measurement_start_us_ = micros();
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}
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void UltrasonicSensorComponent::setup() {
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this->trigger_pin_->setup();
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this->trigger_pin_->digital_write(false);
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this->trigger_pin_isr_ = this->trigger_pin_->to_isr();
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this->echo_pin_->setup();
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this->store_.echo_pin_isr = this->echo_pin_->to_isr();
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this->echo_pin_->attach_interrupt(UltrasonicSensorStore::gpio_intr, &this->store_, gpio::INTERRUPT_ANY_EDGE);
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}
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void UltrasonicSensorComponent::update() {
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if (this->measurement_pending_) {
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return;
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}
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this->send_trigger_pulse_();
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}
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void UltrasonicSensorComponent::loop() {
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if (!this->measurement_pending_) {
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return;
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}
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if (!this->store_.echo_start) {
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uint32_t elapsed = micros() - this->measurement_start_us_;
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if (elapsed >= START_TIMEOUT_US) {
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ESP_LOGW(TAG, "'%s' - Measurement start timed out", this->name_.c_str());
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this->publish_state(NAN);
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this->measurement_pending_ = false;
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return;
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}
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} else {
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uint32_t elapsed;
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if (this->store_.echo_end) {
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elapsed = this->store_.echo_end_us - this->store_.echo_start_us;
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} else {
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elapsed = micros() - this->store_.echo_start_us;
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}
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if (elapsed >= this->timeout_us_) {
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ESP_LOGD(TAG, "'%s' - Measurement pulse timed out after %" PRIu32 "us", this->name_.c_str(), elapsed);
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this->publish_state(NAN);
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this->measurement_pending_ = false;
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return;
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}
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}
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if (this->store_.echo_end) {
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float result;
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if (this->store_.echo_start) {
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uint32_t pulse_duration = this->store_.echo_end_us - this->store_.echo_start_us;
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ESP_LOGV(TAG, "pulse start took %" PRIu32 "us, echo took %" PRIu32 "us",
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this->store_.echo_start_us - this->measurement_start_us_, pulse_duration);
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result = UltrasonicSensorComponent::us_to_m(pulse_duration);
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ESP_LOGD(TAG, "'%s' - Got distance: %.3f m", this->name_.c_str(), result);
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} else {
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ESP_LOGW(TAG, "'%s' - pulse end before pulse start, does the echo pin need to be inverted?", this->name_.c_str());
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result = NAN;
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}
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this->publish_state(result);
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this->measurement_pending_ = false;
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return;
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}
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}
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void UltrasonicSensorComponent::dump_config() {
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LOG_SENSOR("", "Ultrasonic Sensor", this);
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LOG_PIN(" Echo Pin: ", this->echo_pin_);
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LOG_PIN(" Trigger Pin: ", this->trigger_pin_);
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ESP_LOGCONFIG(TAG,
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" Pulse time: %" PRIu32 " µs\n"
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" Timeout: %" PRIu32 " µs",
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this->pulse_time_us_, this->timeout_us_);
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LOG_UPDATE_INTERVAL(this);
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}
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float UltrasonicSensorComponent::us_to_m(uint32_t us) {
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const float speed_sound_m_per_s = 343.0f;
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const float time_s = us / 1e6f;
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const float total_dist = time_s * speed_sound_m_per_s;
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return total_dist / 2.0f;
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}
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} // namespace esphome::ultrasonic
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