diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index ddaf11bf..79572e3d 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -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}) diff --git a/examples/hcsr04.cxx b/examples/hcsr04.cxx new file mode 100644 index 00000000..4cf454c1 --- /dev/null +++ b/examples/hcsr04.cxx @@ -0,0 +1,61 @@ +/* + * Author: Yevgeniy Kiveisha + * 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 +#include +#include "hcsr04.h" +#include +#include +#include + +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; +} diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 7089684c..51edb876 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -6,3 +6,4 @@ add_subdirectory (ledbar) add_subdirectory (4digitdisplay) add_subdirectory (nrf24l01) add_subdirectory (servo) +add_subdirectory (hcsr04) diff --git a/src/hcsr04/CMakeLists.txt b/src/hcsr04/CMakeLists.txt new file mode 100644 index 00000000..0b40430a --- /dev/null +++ b/src/hcsr04/CMakeLists.txt @@ -0,0 +1,4 @@ +set (libname "hcsr04") +add_library (hcsr04 SHARED hcsr04.cxx) +include_directories (${MAA_INCLUDE_DIR}) +target_link_libraries (hcsr04 ${MAA_LIBRARIES}) diff --git a/src/hcsr04/hcsr04.cxx b/src/hcsr04/hcsr04.cxx new file mode 100644 index 00000000..1eb1054f --- /dev/null +++ b/src/hcsr04/hcsr04.cxx @@ -0,0 +1,94 @@ +/* + * Author: Yevgeniy Kiveisha + * 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 +#include +#include +#include + +#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; + } +} diff --git a/src/hcsr04/hcsr04.h b/src/hcsr04/hcsr04.h new file mode 100644 index 00000000..f94776c5 --- /dev/null +++ b/src/hcsr04/hcsr04.h @@ -0,0 +1,66 @@ +/* + * Author: Yevgeniy Kiveisha + * 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 +#include +#include +#include +#include + +#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; +}; + +} diff --git a/src/hcsr04/jsupm_hcsr04.i b/src/hcsr04/jsupm_hcsr04.i new file mode 100644 index 00000000..808c3779 --- /dev/null +++ b/src/hcsr04/jsupm_hcsr04.i @@ -0,0 +1,7 @@ +%module jsupm_hcsr04 + +%{ + #include "hcsr04.h" +%} + +%include "hcsr04.h" diff --git a/src/hcsr04/pyupm_hcsr04.i b/src/hcsr04/pyupm_hcsr04.i new file mode 100644 index 00000000..175e983f --- /dev/null +++ b/src/hcsr04/pyupm_hcsr04.i @@ -0,0 +1,8 @@ +%module pyupm_hcsr04 + +%feature("autodoc", "3"); + +%include "hcsr04.h" +%{ + #include "hcsr04.h" +%}