@@ -19,7 +19,6 @@ public class Hcsr04 : IDisposable
1919 {
2020 ReceiverChannel _rxChannel ;
2121 TransmitterChannel _txChannel ;
22- RmtCommand _txPulse ;
2322 long _lastMeasurment ;
2423
2524 const double _speedOfSound = 340.29 ;
@@ -39,26 +38,37 @@ public Hcsr04(int trigger, int echo)
3938 {
4039 // Set-up TX & RX channels
4140 // We need to send a 10us pulse to initiate measurement
42- _txChannel = new TransmitterChannel ( trigger ) ;
41+ var txChannelSettings = new TransmitChannelSettings ( pinNumber : trigger )
42+ {
43+ // 1us clock ( 80Mhz / 80 ) = 1Mhz
44+ ClockDivider = 80 ,
45+ EnableCarrierWave = true ,
46+ IdleLevel = false ,
47+ } ;
48+
49+ _txChannel = new TransmitterChannel ( txChannelSettings ) ;
4350 // we only need 1 pulse of 10 us high
4451 _txChannel . AddCommand ( new RmtCommand ( 10 , true , 0 , false ) ) ;
4552
46- _txChannel . ClockDivider = 80 ;
47- _txChannel . CarrierEnabled = false ;
48- _txChannel . IdleLevel = false ;
49-
5053 // The received echo pulse width represents the distance to obstacle
5154 // 150us to 38ms
52- _rxChannel = new ReceiverChannel ( echo ) ;
53-
54- // 1us clock ( 80Mhz / 80 ) = 1Mhz
55- _rxChannel . ClockDivider = 80 ;
56- // filter out 200Us / noise
57- _rxChannel . EnableFilter ( true , 200 ) ;
58- // 40ms based on 1us clock
59- _rxChannel . SetIdleThresold ( 40000 ) ;
60- // 100 millisecond timeout is enough
61- _rxChannel . ReceiveTimeout = TimeSpan . FromMilliseconds ( 100 ) ;
55+ var rxChannelSettings = new ReceiverChannelSettings ( pinNumber : echo )
56+ {
57+ // 1us clock ( 80Mhz / 80 ) = 1Mhz
58+ ClockDivider = 80 ,
59+
60+ // filter out 200Us / noise
61+ EnableFilter = true ,
62+ FilterThreshold = 200 ,
63+
64+ // 40ms based on 1us clock
65+ IdleThreshold = 40_000 ,
66+
67+ // 100 millisecond timeout is enough
68+ ReceiveTimeout = TimeSpan . FromMilliseconds ( 100 )
69+ } ;
70+
71+ _rxChannel = new ReceiverChannel ( rxChannelSettings ) ;
6272 }
6373
6474 /// <summary>
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