Question
How use ICU driver?
Posted on July 07, 2015 at 20:22
Hello,
I have to simulate the behavior of this function Arduino on Chibios for the management of my sensor.duration = pulseIn(ECHO_PIN,HIGH);/*
Tested with HY-SRF05, HC-SR04
Assuming a room temp of 20 degrees centigrade
The circuit:
* VVC connection of the sensor attached to +5V
* GND connection of the sensor attached to ground
* TRIG connection of the sensor attached to digital pin 12
* ECHO connection of the sensor attached to digital pin 13
*/
const
int
TRIG_PIN = 12;
const
int
ECHO_PIN = 13;
void
setup() {
// initialize serial communication:
Serial.begin(9600);
pinMode(TRIG_PIN,OUTPUT);
pinMode(ECHO_PIN,INPUT);
}
void
loop()
{
long
duration, distanceCm, distanceIn;
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
digitalWrite(TRIG_PIN, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);
duration = pulseIn(ECHO_PIN,HIGH);
// convert the time into a distance
distanceCm = duration / 1 / 2 ;
distanceIn = duration / 74 / 2;
if
(distanceCm <= 0){
Serial.println(
''Out of range''
);
}
else
{
Serial.print(distanceIn);
Serial.print(
''in, ''
);
Serial.print(distanceCm);
Serial.print(
''cm''
);
Serial.println();
}
delay(1000);
}/*
ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the ''License'');
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an ''AS IS'' BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/* Inclusion of the main header files of all the imported components in the
order specified in the application wizard. The file is generated
automatically.*/
#include ''components.h''
#include ''icu_lld_cfg.h''
icucnt_t last_width, last_period;
void
icuwidthcb(ICUDriver *icup) {
palSetPad(PORT_A, Led_D12);
last_width = icuGetWidth(icup);
}
void
icuperiodcb(ICUDriver *icup) {
palClearPad(PORT_A, Led_D12);
last_period = icuGetPeriod(icup);
}
/*
* LEDs blinker thread, times are in milliseconds.
*/
static
WORKING_AREA(waThread1, 128);
static
msg_t Thread1(
void
*arg) {
(
void
)arg;
chRegSetThreadName(
''detection''
);
while
(TRUE) {
uint32_t duration, distanceCm;
SIU.PCR[3].R = 0b0100010100000100;
/* PA3 alternate function. */
SIU.PCR[58].R = 0b0100010100000100;
/* PD10 alternate function. */
palClearPad(PORT_A, TRIG_PIN);
// low
osalThreadSleepMicroseconds(2);
palSetPad(PORT_A, TRIG_PIN);
//high
osalThreadSleepMicroseconds(10);
palClearPad(PORT_A, TRIG_PIN);
// low
palTogglePad(PORT_A,Led_D12);
icuStart(&ICUD4, &icu_config_icucfg);
icuEnable(&ICUD4);
palSetPad(PORT_A, ECHO_PIN);
//high
icuwidthcb(&ICUD4);
icuperiodcb(&ICUD4);
duration = last_width;
chprintf((BaseSequentialStream *)&SD1,
''Input Capture 3 Value is %u, %u\r\n''
, last_width, last_period);
// convert the time into a distance
distanceCm = duration / 1 / 2 ;
chprintf((BaseSequentialStream *)&SD1,
''Distance cm: %u\r\n''
, distanceCm);
icuDisable(&ICUD4);
icuStop(&ICUD4);
osalThreadSleepMilliseconds(2000);
//chnWriteTimeout(&SD1, (uint8_t *)''%u\r\n'', 14, TIME_INFINITE);
//chprintf((BaseSequentialStream *)&SD1, ''%u'', duration);
osalThreadSleepMilliseconds(500);
}
return
0;
}
/*
* Application entry point.
*/
int
main(
void
) {
/* Initialization of all the imported components in the order specified in
the application wizard. The function is generated automatically.*/
componentsInit();
/*
* Activates the serial driver 1 using the driver default configuration.
*/
sdStart(&SD1, NULL);
/*
* Creates the detection thread.
*/
chThdCreateStatic(waThread1,
sizeof
(waThread1), NORMALPRIO, Thread1, NULL);
chThdSleepMilliseconds(1000);
}