ultrasonic_sensor.h

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#pragma once
 
#include "esphome/core/component.h"
#include "esphome/core/gpio.h"
#include "esphome/components/sensor/sensor.h"
 
#include <cinttypes>
 
namespace esphome::ultrasonic {
 
struct UltrasonicSensorStore {
  static void gpio_intr(UltrasonicSensorStore *arg);
 
  ISRInternalGPIOPin echo_pin_isr;
  volatile uint32_t wait_start_us{0};
  volatile uint32_t echo_start_us{0};
  volatile uint32_t echo_end_us{0};
  volatile bool echo_start{false};
  volatile bool echo_end{false};
};
 
class UltrasonicSensorComponent : public sensor::Sensor, public PollingComponent {
 public:
  void set_trigger_pin(InternalGPIOPin *trigger_pin) { this->trigger_pin_ = trigger_pin; }
  void set_echo_pin(InternalGPIOPin *echo_pin) { this->echo_pin_ = echo_pin; }
 
  void setup() override;
  void loop() override;
  void dump_config() override;
  void update() override;
 
  void set_timeout_us(uint32_t timeout_us) { this->timeout_us_ = timeout_us; }
  void set_pulse_time_us(uint32_t pulse_time_us) { this->pulse_time_us_ = pulse_time_us; }
 
 protected:
  static float us_to_m(uint32_t us);
  void send_trigger_pulse_();
 
  InternalGPIOPin *trigger_pin_;
  ISRInternalGPIOPin trigger_pin_isr_;
  InternalGPIOPin *echo_pin_;
  UltrasonicSensorStore store_;
  uint32_t timeout_us_{};
  uint32_t pulse_time_us_{};
 
  uint32_t measurement_start_us_{0};
  bool measurement_pending_{false};
};
 
}  // namespace esphome::ultrasonic