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#include "distance_sensor.h"
//-----------------------------------------------------------------------------
float Distance_Sensor::GetDistance()
{
uint32 result = 0;
//Generate pulse
*hardwareDDR |= pin;//Set pin output
*hardwarePort |= pin;//Activate port
usleep(10);//Wait for 10µs
//*hardwarePort &= ~pin;//Deactivate port
*hardwareDDR &= ~pin;//Set pin input
(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("pre 1", 4, 1);
//Wait for response
while(!(PINC & pin)){asm volatile("nop");}
(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("pre 2", 4, 1);
//Calculate duration of response
while(*hardwarePin & pin)
{
result++;
asm volatile("nop");
}
(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("pre 3", 4, 1);
return (float(result) * DISTANCE_PER_VALUE);
}
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