groveultrasonic: Initial implementation

This module was developed and tested on a Grove Ultrasonic Ranger module.

http://www.seeedstudio.com/wiki/Grove_-_Ultrasonic_Ranger

Signed-off-by: Jun Kato <i@junkato.jp>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Jun Kato 2015-10-23 15:13:34 +09:00 committed by Mihai Tudor Panu
parent dc97adf578
commit 2eb6ebd3bd
8 changed files with 339 additions and 0 deletions

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@ -154,6 +154,7 @@ add_executable (adxrs610-example adxrs610.cxx)
add_executable (bma220-example bma220.cxx) add_executable (bma220-example bma220.cxx)
add_executable (dfrph-example dfrph.cxx) add_executable (dfrph-example dfrph.cxx)
add_executable (mcp9808-example mcp9808.cxx) add_executable (mcp9808-example mcp9808.cxx)
add_executable (groveultrasonic-example groveultrasonic.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l) include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove) include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@ -272,6 +273,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/adxrs610)
include_directories (${PROJECT_SOURCE_DIR}/src/bma220) include_directories (${PROJECT_SOURCE_DIR}/src/bma220)
include_directories (${PROJECT_SOURCE_DIR}/src/dfrph) include_directories (${PROJECT_SOURCE_DIR}/src/dfrph)
include_directories (${PROJECT_SOURCE_DIR}/src/mcp9808) include_directories (${PROJECT_SOURCE_DIR}/src/mcp9808)
include_directories (${PROJECT_SOURCE_DIR}/src/groveultrasonic)
target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@ -427,3 +429,4 @@ target_link_libraries (adxrs610-example adxrs610 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (bma220-example bma220 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (bma220-example bma220 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (dfrph-example dfrph ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (dfrph-example dfrph ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (mcp9808-example mcp9808 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (mcp9808-example mcp9808 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveultrasonic-example groveultrasonic ${CMAKE_THREAD_LIBS_INIT})

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@ -0,0 +1,58 @@
/*
* Author: Jun Kato <i@junkato.jp>
* Copyright (c) 2015 Jun Kato.
*
* Thanks to Seeed Studio for a working arduino sketch
*
* 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 "groveultrasonic.h"
#include <signal.h>
#include <stdlib.h>
#include <sys/time.h>
upm::GroveUltraSonic *sonar = NULL;
void
sig_handler(int signo)
{
printf("got signal\n");
if (signo == SIGINT) {
sonar->m_doWork = 1;
}
}
int
main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// upm::GroveUltraSonic *sonar = NULL;
sonar = new upm::GroveUltraSonic(2);
printf("width = %d\n", sonar->getDistance());
delete sonar;
//! [Interesting]
printf("exiting application\n");
return 0;
}

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@ -0,0 +1,45 @@
/*
* Author: Jun Kato <i@junkato.jp>
* Copyright (c) 2015 Jun Kato.
*
* Thanks to Seeed Studio for a working arduino sketch
*
* 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.
*/
var ultrasonic = require("jsupm_groveultrasonic");
var sensor = new ultrasonic.GroveUltraSonic(2);
var myInterval = setInterval(function()
{
var travelTime = sensor.getDistance();
if (travelTime > 0) {
var distance = (travelTime / 29 / 2).toFixed(3);
console.log("distance: " + distance + " [cm]");
}
}, 200);
// When exiting: clear interval and print message
process.on('SIGINT', function()
{
clearInterval(myInterval);
console.log("Exiting...");
process.exit(0);
});

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@ -0,0 +1,5 @@
set (libname "groveultrasonic")
set (libdescription "upm grove ultrasonic proximity sensor")
set (module_src ${libname}.cxx)
set (module_h ${libname}.h)
upm_module_init()

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@ -0,0 +1,104 @@
/*
* Author: Jun Kato <i@junkato.jp>
* Copyright (c) 2015 Jun Kato.
*
* Thanks to Seeed Studio for a working arduino sketch
*
* 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 "groveultrasonic.h"
using namespace upm;
GroveUltraSonic::GroveUltraSonic (uint8_t pin) {
mraa_result_t error = MRAA_SUCCESS;
m_name = "GroveUltraSonic";
mraa_init();
// setup pin
m_pinCtx = mraa_gpio_init(pin);
if (m_pinCtx == NULL) {
fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", pin);
exit (1);
}
mraa_gpio_use_mmaped(m_pinCtx, 1);
mraa_gpio_isr (m_pinCtx, MRAA_GPIO_EDGE_BOTH,
&signalISR, this);
}
GroveUltraSonic::~GroveUltraSonic () {
// close pin
mraa_gpio_isr_exit(m_pinCtx);
mraa_gpio_close (m_pinCtx);
}
int
GroveUltraSonic::getDistance () {
// output trigger signal
mraa_gpio_dir(m_pinCtx, MRAA_GPIO_OUT);
mraa_gpio_write(m_pinCtx, LOW);
usleep(2);
mraa_gpio_write(m_pinCtx, HIGH);
usleep(5);
mraa_gpio_write(m_pinCtx, LOW);
// wait for the pulse,
m_doWork = 0;
m_InterruptCounter = 0;
mraa_gpio_dir(m_pinCtx, MRAA_GPIO_IN);
// though do not wait over 25 [ms].
int timer = 0;
while (!m_doWork && timer++ < 5) {
// in 25 [ms], sound travels 25000 / 29 / 2 = 431 [cm],
// which is more than 400 [cm], the max distance mesurable with this sensor.
usleep(5 * 1000); // 5 [ms]
}
// calc diff
long diff = m_FallingTimeStamp.tv_usec - m_RisingTimeStamp.tv_usec;
diff += (m_FallingTimeStamp.tv_sec - m_RisingTimeStamp.tv_sec) * 1000000;
return timer >= 5 ? 0 : diff;
}
void
GroveUltraSonic::signalISR(void *ctx) {
upm::GroveUltraSonic *This = (upm::GroveUltraSonic *)ctx;
This->ackEdgeDetected();
}
void
GroveUltraSonic::ackEdgeDetected () {
if (++m_InterruptCounter % 2 == 0) {
gettimeofday(&m_FallingTimeStamp, NULL);
m_doWork = 1;
} else {
gettimeofday(&m_RisingTimeStamp, NULL);
}
}

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@ -0,0 +1,107 @@
/*
* Author: Jun Kato <i@junkato.jp>
* Copyright (c) 2015 Jun Kato.
*
* Thanks to Seeed Studio for a working arduino sketch
*
* 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 <mraa/aio.h>
#include <mraa/gpio.h>
#include <sys/time.h>
#define HIGH 1
#define LOW 0
#define MAX_PERIOD 7968
#define TRIGGER_PULSE 10
namespace upm {
/**
* @brief Grove ultrasonic sensor library
* @defgroup groveultrasonic libupm-groveultrasonic
*/
/**
* @brief C++ API for Grove ultrasonic ranging component
*
* This file defines the GroveUltraSonic C++ interface for libgroveultrasonic
*
* @ingroup groveultrasonic gpio
*/
class GroveUltraSonic {
public:
/**
* Instanciates a GroveUltraSonic object
*
* @param pin pin for triggering the sensor for distance and for receiving pulse response
*/
GroveUltraSonic (uint8_t pin);
/**
* GroveUltraSonic object destructor.
*/
~GroveUltraSonic ();
/**
* Get the distance from the sensor.
*/
int getDistance ();
/**
* Return name of the component
*/
std::string name()
{
return m_name;
}
/**
* ISR for the pulse signal
*/
static void signalISR(void *ctx);
/**
* Flag to controll blocking function while waiting for falling edge interrupt
*/
uint8_t m_doWork;
private:
mraa_gpio_context m_pinCtx;
uint8_t m_InterruptCounter;
struct timeval m_RisingTimeStamp;
struct timeval m_FallingTimeStamp;
std::string m_name;
/**
* On each interrupt this function will detect if the interrupt
* was falling edge or rising.
* Should be called from the interrupt handler.
*/
void ackEdgeDetected ();
};
}

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@ -0,0 +1,8 @@
%module jsupm_groveultrasonic
%include "../upm.i"
%{
#include "groveultrasonic.h"
%}
%include "groveultrasonic.h"

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@ -0,0 +1,9 @@
%module pyupm_groveultrasonic
%include "../upm.i"
%feature("autodoc", "3");
%include "groveultrasonic.h"
%{
#include "groveultrasonic.h"
%}