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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:
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@ -154,6 +154,7 @@ add_executable (adxrs610-example adxrs610.cxx)
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add_executable (bma220-example bma220.cxx)
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add_executable (dfrph-example dfrph.cxx)
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add_executable (mcp9808-example mcp9808.cxx)
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add_executable (groveultrasonic-example groveultrasonic.cxx)
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include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
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include_directories (${PROJECT_SOURCE_DIR}/src/grove)
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@ -272,6 +273,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/adxrs610)
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include_directories (${PROJECT_SOURCE_DIR}/src/bma220)
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include_directories (${PROJECT_SOURCE_DIR}/src/dfrph)
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include_directories (${PROJECT_SOURCE_DIR}/src/mcp9808)
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include_directories (${PROJECT_SOURCE_DIR}/src/groveultrasonic)
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target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
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@ -427,3 +429,4 @@ target_link_libraries (adxrs610-example adxrs610 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (bma220-example bma220 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (dfrph-example dfrph ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (mcp9808-example mcp9808 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (groveultrasonic-example groveultrasonic ${CMAKE_THREAD_LIBS_INIT})
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58
examples/c++/groveultrasonic.cxx
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58
examples/c++/groveultrasonic.cxx
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@ -0,0 +1,58 @@
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/*
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* Author: Jun Kato <i@junkato.jp>
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* Copyright (c) 2015 Jun Kato.
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*
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* Thanks to Seeed Studio for a working arduino sketch
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <iostream>
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#include "groveultrasonic.h"
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#include <signal.h>
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#include <stdlib.h>
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#include <sys/time.h>
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upm::GroveUltraSonic *sonar = NULL;
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void
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sig_handler(int signo)
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{
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printf("got signal\n");
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if (signo == SIGINT) {
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sonar->m_doWork = 1;
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}
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}
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int
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main(int argc, char **argv)
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// upm::GroveUltraSonic *sonar = NULL;
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sonar = new upm::GroveUltraSonic(2);
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printf("width = %d\n", sonar->getDistance());
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delete sonar;
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//! [Interesting]
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printf("exiting application\n");
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return 0;
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}
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45
examples/javascript/groveultrasonic.js
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45
examples/javascript/groveultrasonic.js
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@ -0,0 +1,45 @@
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/*
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* Author: Jun Kato <i@junkato.jp>
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* Copyright (c) 2015 Jun Kato.
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*
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* Thanks to Seeed Studio for a working arduino sketch
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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var ultrasonic = require("jsupm_groveultrasonic");
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var sensor = new ultrasonic.GroveUltraSonic(2);
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var myInterval = setInterval(function()
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{
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var travelTime = sensor.getDistance();
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if (travelTime > 0) {
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var distance = (travelTime / 29 / 2).toFixed(3);
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console.log("distance: " + distance + " [cm]");
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}
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}, 200);
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// When exiting: clear interval and print message
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process.on('SIGINT', function()
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{
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clearInterval(myInterval);
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console.log("Exiting...");
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process.exit(0);
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});
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5
src/groveultrasonic/CMakeLists.txt
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5
src/groveultrasonic/CMakeLists.txt
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set (libname "groveultrasonic")
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set (libdescription "upm grove ultrasonic proximity sensor")
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set (module_src ${libname}.cxx)
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set (module_h ${libname}.h)
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upm_module_init()
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104
src/groveultrasonic/groveultrasonic.cxx
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104
src/groveultrasonic/groveultrasonic.cxx
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/*
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* Author: Jun Kato <i@junkato.jp>
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* Copyright (c) 2015 Jun Kato.
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*
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* Thanks to Seeed Studio for a working arduino sketch
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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#include <unistd.h>
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#include <stdlib.h>
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#include <functional>
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#include "groveultrasonic.h"
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using namespace upm;
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GroveUltraSonic::GroveUltraSonic (uint8_t pin) {
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mraa_result_t error = MRAA_SUCCESS;
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m_name = "GroveUltraSonic";
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mraa_init();
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// setup pin
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m_pinCtx = mraa_gpio_init(pin);
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if (m_pinCtx == NULL) {
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fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", pin);
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exit (1);
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}
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mraa_gpio_use_mmaped(m_pinCtx, 1);
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mraa_gpio_isr (m_pinCtx, MRAA_GPIO_EDGE_BOTH,
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&signalISR, this);
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}
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GroveUltraSonic::~GroveUltraSonic () {
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// close pin
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mraa_gpio_isr_exit(m_pinCtx);
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mraa_gpio_close (m_pinCtx);
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}
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int
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GroveUltraSonic::getDistance () {
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// output trigger signal
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mraa_gpio_dir(m_pinCtx, MRAA_GPIO_OUT);
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mraa_gpio_write(m_pinCtx, LOW);
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usleep(2);
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mraa_gpio_write(m_pinCtx, HIGH);
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usleep(5);
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mraa_gpio_write(m_pinCtx, LOW);
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// wait for the pulse,
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m_doWork = 0;
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m_InterruptCounter = 0;
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mraa_gpio_dir(m_pinCtx, MRAA_GPIO_IN);
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// though do not wait over 25 [ms].
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int timer = 0;
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while (!m_doWork && timer++ < 5) {
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// in 25 [ms], sound travels 25000 / 29 / 2 = 431 [cm],
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// which is more than 400 [cm], the max distance mesurable with this sensor.
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usleep(5 * 1000); // 5 [ms]
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}
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// calc diff
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long diff = m_FallingTimeStamp.tv_usec - m_RisingTimeStamp.tv_usec;
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diff += (m_FallingTimeStamp.tv_sec - m_RisingTimeStamp.tv_sec) * 1000000;
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return timer >= 5 ? 0 : diff;
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}
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void
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GroveUltraSonic::signalISR(void *ctx) {
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upm::GroveUltraSonic *This = (upm::GroveUltraSonic *)ctx;
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This->ackEdgeDetected();
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}
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void
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GroveUltraSonic::ackEdgeDetected () {
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if (++m_InterruptCounter % 2 == 0) {
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gettimeofday(&m_FallingTimeStamp, NULL);
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m_doWork = 1;
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} else {
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gettimeofday(&m_RisingTimeStamp, NULL);
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}
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}
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107
src/groveultrasonic/groveultrasonic.h
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107
src/groveultrasonic/groveultrasonic.h
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@ -0,0 +1,107 @@
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/*
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* Author: Jun Kato <i@junkato.jp>
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* Copyright (c) 2015 Jun Kato.
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*
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* Thanks to Seeed Studio for a working arduino sketch
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <mraa/aio.h>
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#include <mraa/gpio.h>
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#include <sys/time.h>
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#define HIGH 1
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#define LOW 0
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#define MAX_PERIOD 7968
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#define TRIGGER_PULSE 10
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namespace upm {
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/**
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* @brief Grove ultrasonic sensor library
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* @defgroup groveultrasonic libupm-groveultrasonic
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*/
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/**
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* @brief C++ API for Grove ultrasonic ranging component
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*
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* This file defines the GroveUltraSonic C++ interface for libgroveultrasonic
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*
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* @ingroup groveultrasonic gpio
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*/
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class GroveUltraSonic {
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public:
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/**
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* Instanciates a GroveUltraSonic object
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*
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* @param pin pin for triggering the sensor for distance and for receiving pulse response
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*/
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GroveUltraSonic (uint8_t pin);
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/**
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* GroveUltraSonic object destructor.
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*/
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~GroveUltraSonic ();
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/**
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* Get the distance from the sensor.
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*/
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int getDistance ();
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/**
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* Return name of the component
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*/
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std::string name()
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{
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return m_name;
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}
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/**
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* ISR for the pulse signal
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*/
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static void signalISR(void *ctx);
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/**
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* Flag to controll blocking function while waiting for falling edge interrupt
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*/
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uint8_t m_doWork;
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private:
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mraa_gpio_context m_pinCtx;
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uint8_t m_InterruptCounter;
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struct timeval m_RisingTimeStamp;
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struct timeval m_FallingTimeStamp;
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std::string m_name;
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/**
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* On each interrupt this function will detect if the interrupt
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* was falling edge or rising.
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* Should be called from the interrupt handler.
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*/
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void ackEdgeDetected ();
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};
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}
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8
src/groveultrasonic/jsupm_groveultrasonic.i
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8
src/groveultrasonic/jsupm_groveultrasonic.i
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%module jsupm_groveultrasonic
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%include "../upm.i"
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%{
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#include "groveultrasonic.h"
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%}
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%include "groveultrasonic.h"
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9
src/groveultrasonic/pyupm_groveultrasonic.i
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9
src/groveultrasonic/pyupm_groveultrasonic.i
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%module pyupm_groveultrasonic
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%include "../upm.i"
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%feature("autodoc", "3");
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%include "groveultrasonic.h"
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%{
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#include "groveultrasonic.h"
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%}
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