rtos_hc_sr04.h

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#pragma once
 
#include "pico/stdlib.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

struct struct_HCSR04IRQData
{
    uint32_t current_time_us;
    uint32_t event_mask;
};

class rtos_HCSR04
{
private:
    uint trig_pin;
    uint echo_pin;
    uint32_t echo_irq_mask_config;
    QueueHandle_t input_timer_queue;
    QueueHandle_t output_range_queue;
    bool measure_completed;
 
public:

    rtos_HCSR04(uint trig_pin, uint echo_pin,
                QueueHandle_t input_timer_queue, QueueHandle_t output_range_queue,
                gpio_irq_callback_t echo_irq_call_back, uint32_t event_mask_config = GPIO_IRQ_EDGE_FALL | GPIO_IRQ_EDGE_RISE);

    void get_distance();
};