90 lines
2.9 KiB
C++
90 lines
2.9 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 DEBOUNCE_US = 50; // Ignore edges within 50us (noise filtering)
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static constexpr uint32_t MEASUREMENT_TIMEOUT_US = 80000; // Maximum time to wait for measurement completion
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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_start || (now - arg->echo_start_us) <= DEBOUNCE_US) {
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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->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_end) {
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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, "Echo took %" PRIu32 "us", pulse_duration);
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float 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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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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uint32_t elapsed = micros() - this->measurement_start_us_;
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if (elapsed >= MEASUREMENT_TIMEOUT_US) {
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ESP_LOGD(TAG, "'%s' - Measurement 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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}
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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, " Pulse time: %" PRIu32 " us", this->pulse_time_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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