hcsr04: Added new sonar module (not working properly yet)

Signed-off-by: Kiveisha Yevgeniy <yevgeniy.kiveisha@intel.com>
This commit is contained in:
Kiveisha Yevgeniy 2014-06-04 14:57:19 +00:00
parent aac51c4850
commit 28b68b71c8
8 changed files with 244 additions and 0 deletions

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@ -9,6 +9,7 @@ add_executable (seg-lcd 4digitdisplay.cxx)
add_executable (nrf_transmitter nrf_transmitter.cxx)
add_executable (nrf_receiver nrf_receiver.cxx)
add_executable (es08a es08a.cxx)
add_executable (son-hcsr04 hcsr04.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@ -18,6 +19,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/ledbar)
include_directories (${PROJECT_SOURCE_DIR}/src/4digitdisplay)
include_directories (${PROJECT_SOURCE_DIR}/src/nrf24l01)
include_directories (${PROJECT_SOURCE_DIR}/src/servo)
include_directories (${PROJECT_SOURCE_DIR}/src/hcsr04)
target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT})
@ -30,3 +32,4 @@ target_link_libraries (seg-lcd 4digitdisplay ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (nrf_transmitter nrf24l01 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (nrf_receiver nrf24l01 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (es08a servo ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (son-hcsr04 hcsr04 ${CMAKE_THREAD_LIBS_INIT})

61
examples/hcsr04.cxx Normal file
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@ -0,0 +1,61 @@
/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include <iostream>
#include "hcsr04.h"
#include <signal.h>
#include <stdlib.h>
#include <sys/time.h>
upm::HCSR04 *sonar = NULL;
void
sig_handler(int signo)
{
printf("got signal\n");
if (signo == SIGINT) {
printf("exiting application\n");
sonar->m_doWork = 1;
}
}
void
interrupt (void) {
sonar->ackEdgeDetected ();
}
int
main(int argc, char **argv)
{
sonar = new upm::HCSR04(5, 7, &interrupt);
signal(SIGINT, sig_handler);
printf ("width = %d\n", sonar->getDistance());
std::cout << "exiting application" << std::endl;
delete sonar;
return 0;
}

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@ -6,3 +6,4 @@ add_subdirectory (ledbar)
add_subdirectory (4digitdisplay)
add_subdirectory (nrf24l01)
add_subdirectory (servo)
add_subdirectory (hcsr04)

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@ -0,0 +1,4 @@
set (libname "hcsr04")
add_library (hcsr04 SHARED hcsr04.cxx)
include_directories (${MAA_INCLUDE_DIR})
target_link_libraries (hcsr04 ${MAA_LIBRARIES})

94
src/hcsr04/hcsr04.cxx Normal file
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@ -0,0 +1,94 @@
/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <unistd.h>
#include <stdlib.h>
#include <functional>
#include "hcsr04.h"
using namespace upm;
HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void)) {
maa_result_t error = MAA_SUCCESS;
m_name = "HCSR04";
m_pwmTriggerCtx = maa_pwm_init (triggerPin);
if (m_pwmTriggerCtx == NULL) {
std::cout << "PWM context is NULL" << std::endl;
exit (1);
}
maa_init();
m_echoPinCtx = maa_gpio_init(echoPin);
if (m_echoPinCtx == NULL) {
fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", echoPin);
exit (1);
}
maa_gpio_dir(m_echoPinCtx, MAA_GPIO_IN);
gpio_edge_t edge = MAA_GPIO_EDGE_BOTH;
maa_gpio_isr (m_echoPinCtx, edge, fptr);
}
HCSR04::~HCSR04 () {
maa_result_t error = MAA_SUCCESS;
maa_pwm_close (m_pwmTriggerCtx);
error = maa_gpio_close (m_echoPinCtx);
if (error != MAA_SUCCESS) {
maa_result_print (error);
}
}
int
HCSR04::getDistance () {
maa_pwm_enable (m_pwmTriggerCtx, 1);
maa_pwm_period_us (m_pwmTriggerCtx, MAX_PERIOD);
maa_pwm_pulsewidth_us (m_pwmTriggerCtx, TRIGGER_PULSE);
maa_pwm_enable (m_pwmTriggerCtx, 0);
m_doWork = 0;
m_InterruptCounter = 0;
while (!m_doWork) {
sleep (1);
}
return m_FallingTimeStamp - m_RisingTimeStamp;
}
void
HCSR04::ackEdgeDetected () {
struct timeval timer;
gettimeofday(&timer, NULL);
++m_InterruptCounter;
if (!(m_InterruptCounter % 2)) {
m_FallingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
m_doWork = 1;
} else {
m_RisingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
}
}

66
src/hcsr04/hcsr04.h Normal file
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@ -0,0 +1,66 @@
/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <string>
#include <maa/aio.h>
#include <maa/gpio.h>
#include <maa/pwm.h>
#include <sys/time.h>
#define HIGH 1
#define LOW 0
#define MAX_PERIOD 7968
#define TRIGGER_PULSE 10
namespace upm {
class HCSR04 {
public:
HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void));
~HCSR04 ();
int getDistance ();
void ackEdgeDetected ();
uint8_t m_doWork;
std::string name()
{
return m_name;
}
private:
maa_pwm_context m_pwmTriggerCtx;
maa_gpio_context m_echoPinCtx;
uint8_t m_waitEcho;
long m_RisingTimeStamp;
long m_FallingTimeStamp;
uint8_t m_InterruptCounter;
std::string m_name;
};
}

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@ -0,0 +1,7 @@
%module jsupm_hcsr04
%{
#include "hcsr04.h"
%}
%include "hcsr04.h"

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@ -0,0 +1,8 @@
%module pyupm_hcsr04
%feature("autodoc", "3");
%include "hcsr04.h"
%{
#include "hcsr04.h"
%}