Cleanup sonar driver

* spend less time in interrupt handler.
* avoid pointer usage to prevent the inclination adjusted reading being
replaced by the interrupt handler's calculation.
* only calculate the actual distance based on the measurement when
required.

src/main/drivers/sonar_hcsr04.c

@@ -36,35 +36,21 @@
  *
  */
 
-static uint32_t last_measurement;
+static uint32_t lastMeasurementAt;
-static volatile int32_t *distance_ptr = 0;
+static volatile int32_t measurement = -1;
-
-extern int16_t debug[4];
-
 static sonarHardware_t const *sonarHardware;
 
 void ECHO_EXTI_IRQHandler(void)
 {
     static uint32_t timing_start;
     uint32_t timing_stop;
+
     if (digitalIn(GPIOB, sonarHardware->echo_pin) != 0) {
         timing_start = micros();
     } else {
         timing_stop = micros();
         if (timing_stop > timing_start) {
-            // The speed of sound is 340 m/s or approx. 29 microseconds per centimeter.
+            measurement = timing_stop - timing_start;
-            // The ping travels out and back, so to find the distance of the
-            // object we take half of the distance traveled.
-            //
-            // 340 m/s = 0.034 cm/microsecond = 29.41176471 *2 = 58.82352941 rounded to 59
-            int32_t distance = (timing_stop - timing_start) / 59;
-            // this sonar range is up to 4meter , but 3meter is the safe working range (+tilted and roll)
-            if (distance > 300)
-                distance = -1;
-
-            if (distance_ptr) {
-                *distance_ptr = distance;
-            }
         }
     }
 
@@ -115,30 +101,41 @@ void hcsr04_init(const sonarHardware_t *initialSonarHardware)
 
     NVIC_EnableIRQ(sonarHardware->exti_irqn);
 
-    last_measurement = millis() - 60; // force 1st measurement in hcsr04_get_distance()
+    lastMeasurementAt = millis() - 60; // force 1st measurement in hcsr04_get_distance()
 }
 
-// distance calculation is done asynchronously, using interrupt
+// measurement reading is done asynchronously, using interrupt
-void hcsr04_get_distance(volatile int32_t *distance)
+void hcsr04_start_reading(void)
 {
-    uint32_t current_time = millis();
+    uint32_t now = millis();
 
-    if (current_time < (last_measurement + 60)) {
+    if (now < (lastMeasurementAt + 60)) {
         // the repeat interval of trig signal should be greater than 60ms
         // to avoid interference between connective measurements.
         return;
     }
 
-    last_measurement = current_time;
+    lastMeasurementAt = now;
-    distance_ptr = distance;
-
-#if 0
-    debug[0] = *distance;
-#endif
 
     digitalHi(GPIOB, sonarHardware->trigger_pin);
     //  The width of trig signal must be greater than 10us
     delayMicroseconds(11);
     digitalLo(GPIOB, sonarHardware->trigger_pin);
 }
+
+int32_t hcsr04_get_distance(void)
+{
+    // The speed of sound is 340 m/s or approx. 29 microseconds per centimeter.
+    // The ping travels out and back, so to find the distance of the
+    // object we take half of the distance traveled.
+    //
+    // 340 m/s = 0.034 cm/microsecond = 29.41176471 *2 = 58.82352941 rounded to 59
+    int32_t distance = measurement / 59;
+
+    // this sonar range is up to 4meter , but 3meter is the safe working range (+tilted and roll)
+    if (distance > 300)
+        distance = -1;
+
+    return distance;
+}
 #endif

src/main/drivers/sonar_hcsr04.h

@@ -27,4 +27,5 @@ typedef struct sonarHardware_s {
 
 void hcsr04_init(const sonarHardware_t *sonarHardware);
 
-void hcsr04_get_distance(volatile int32_t *distance);
+void hcsr04_start_reading(void);
+int32_t hcsr04_get_distance(void);

src/main/flight/altitudehold.c

@@ -46,6 +46,8 @@
 
 #include "config/runtime_config.h"
 
+extern int16_t debug[4];
+
 int32_t setVelocity = 0;
 uint8_t velocityControl = 0;
 int32_t errorVelocityI = 0;
@@ -258,6 +260,7 @@ void calculateEstimatedAltitude(uint32_t currentTime)
 
 #ifdef SONAR
     tiltAngle = calculateTiltAngle(&inclination);
+    sonarAlt = sonarRead();
     sonarAlt = sonarCalculateAltitude(sonarAlt, tiltAngle);
 #endif
 

src/main/sensors/sonar.c

@@ -33,7 +33,7 @@
 #include "sensors/sensors.h"
 #include "sensors/sonar.h"
 
-int32_t sonarAlt = -1;	// in cm , -1 indicate sonar is not in range
+int32_t sonarAlt = -1;                  // in cm , -1 indicate sonar is not in range - inclination adjusted by imu
 
 #ifdef SONAR
 
@@ -79,7 +79,7 @@ void Sonar_init(void)
 
 void Sonar_update(void)
 {
-    hcsr04_get_distance(&sonarAlt);
+    hcsr04_start_reading();
 }
 
 int32_t sonarCalculateAltitude(int32_t sonarAlt, int16_t tiltAngle)
@@ -91,4 +91,8 @@ int32_t sonarCalculateAltitude(int32_t sonarAlt, int16_t tiltAngle)
     return sonarAlt * (900.0f - tiltAngle) / 900.0f;
 }
 
+int32_t sonarRead(void) {
+    return hcsr04_get_distance();
+}
+
 #endif

src/main/sensors/sonar.h

@@ -22,4 +22,5 @@ extern int32_t sonarAlt;
 void Sonar_init(void);
 void Sonar_update(void);
 
+int32_t sonarRead(void);
 int32_t sonarCalculateAltitude(int32_t sonarAlt, int16_t tiltAngle);