DIY PIXHAWK APM等飞控用的声纳

代码：

SR04 + ApmSonar.ino 打包下载

注意，使用到了SR04的类库。

ApmSonar.ino

// sr04 to apm I2c sonar

// by panxu mail: [email protected]

// Created 2014

#include <Wire.h>

#include "SR04.h"

#define TRIG_PIN 2

#define ECHO_PIN 3

SR04 sr04 = SR04(ECHO_PIN,TRIG_PIN);

uint16_t reading_cm;

uint16_t tempread;

void setup()

{

  reading_cm=;

  Wire.begin(0x70);                // join i2c bus with address #2

  Wire.onRequest(requestEvent); // register event

}

void loop()

{

  tempread=sr04.DistanceAvg(,);

  if (tempread<)

       reading_cm=tempread;

}

void requestEvent()

{

  byte sendhi;

  byte sendli;

  byte sendbyte[];

  uint16_t tempreading_cm;

  tempreading_cm=reading_cm;

  sendhi=tempreading_cm>>;

  sendli=tempreading_cm&0xff;

  sendbyte[]=sendhi;

  sendbyte[]=sendli;

  Wire.write(sendbyte,);

}