sonar_hcsr04.h

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/*
 * This file is part of Ninjaflight.
 *
 * Ninjaflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Ninjaflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Ninjaflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include <platform.h>

struct hcsr04 {
    uint16_t max_range_cm; 
    uint16_t detection_cone_deci_degrees; 
    uint16_t detection_cone_extended_deci_degrees; 

    int16_t distance; 

    struct sonar_ops *ops; 
    const struct sonar_hardware *hw; 
};

void hcsr04_init(struct hcsr04 *self);
void hcsr04_start_reading(struct hcsr04 *self);
int32_t hcsr04_get_distance(struct hcsr04 *self);