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Fix pulsein pause and resume functions to handle HCSR04

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root 2021-06-04 12:10:41 -05:00
parent d79d68705b
commit 57334c812e
1 changed files with 16 additions and 12 deletions
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28
ports/raspberrypi/common-hal/pulseio/PulseIn.c
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@ -117,9 +117,13 @@ void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t *self) {
}
void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t *self) {
pio_sm_restart(self->state_machine.pio, self->state_machine.state_machine);
pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
last_level = self->idle_state;
level_count = 0;
result = 0;
buf_index = 0;
}
void common_hal_pulseio_pulsein_interrupt() {
pulseio_pulsein_obj_t *self = save_self;
@ -134,13 +138,13 @@ void common_hal_pulseio_pulsein_interrupt() {
} else {
result = level_count;
last_level = level;
level_count = 1;
// Pulses that are londger than MAX_PULSE will return MAX_PULSE
level_count = 0;
// Pulses that are longer than MAX_PULSE will return MAX_PULSE
if (result > MAX_PULSE) {
result = MAX_PULSE;
}
// ignore pulses that are too short
if (result <= MAX_PULSE && result > MIN_PULSE) {
// return pulses that are not too short
if (result > MIN_PULSE) {
self->buffer[buf_index] = (uint16_t)result;
if (self->len < self->maxlen) {
self->len++;
@ -165,12 +169,6 @@ void common_hal_pulseio_pulsein_interrupt() {
}
void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t *self,
uint16_t trigger_duration) {
// exec a wait for the selected pin to change state
if (self->idle_state == true) {
pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020);
} else {
pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
}
// Send the trigger pulse.
if (trigger_duration > 0) {
gpio_set_function(self->pin,GPIO_FUNC_SIO);
@ -178,11 +176,17 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t *self,
gpio_put(self->pin, !self->idle_state);
common_hal_mcu_delay_us((uint32_t)trigger_duration);
gpio_set_function(self->pin,GPIO_FUNC_PIO0);
common_hal_mcu_delay_us(225);
common_hal_mcu_delay_us(125);
}
// Reconfigure the pin for PIO
gpio_set_function(self->pin, GPIO_FUNC_PIO0);
// exec a wait for the selected pin to change state
if (self->idle_state == true) {
pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020);
} else {
pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
}
pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
}