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urm37: Add C library for this sensor
Added a C implementation for this sensor. The C++ library was changed to just wrap the C library calls. Signed-off-by: Jon Trulson <jtrulson@ics.com>
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Jon Trulson
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src/urm37/urm37.h
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src/urm37/urm37.h
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Abhishek Malik <abhishek.malik@intel.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Thanks to Adafruit for supplying a google translated version of the
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* Chinese datasheet and some clues in their code.
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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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#ifndef URM37_H_
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#define URM37_H_
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#include <stdint.h>
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#include "upm.h"
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#include "mraa/aio.h"
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#include "mraa/gpio.h"
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#include "mraa/uart.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief UPM C API for the DFRobot URM37 Ultrasonic Ranger
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*
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* The driver was tested with the DFRobot URM37 Ultrasonic Ranger,
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* V4. It has a range of between 5 and 500 centimeters (cm). It
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* supports both analog distance measurement, and UART based
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* temperature and distance measurements. This driver does not
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* support PWM measurement mode.
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*
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* For UART operation, the only supported baud rate is 9600. In
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* addition, you must ensure that the UART TX/RX pins are
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* configured for TTL operation (the factory default) rather than
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* RS232 operation, or permanent damage to your URM37 and/or MCU
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* will result. On power up, the LED indicator will blink one
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* long pulse, followed by one short pulse to indicate TTL
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* operation. See the DFRobot wiki for more information:
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*
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* (https://www.dfrobot.com/wiki/index.php?title=URM37_V4.0_Ultrasonic_Sensor_%28SKU:SEN0001%29)
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*
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* An example using analog mode
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* @snippet urm37.c Interesting
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* An example using UART mode
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* @snippet urm37-uart.c Interesting
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*/
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/**
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* device context
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*/
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typedef struct _urm37_context {
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mraa_aio_context aio;
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mraa_gpio_context gpio_reset;
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mraa_gpio_context gpio_trigger;
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mraa_uart_context uart;
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bool is_analog_mode;
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float a_ref;
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float a_res;
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} *urm37_context;
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/**
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* URM37 Initializer
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*
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* @param a_pin Analog pin to use. Ignored in UART mode.
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* @param reset_pin GPIO pin to use for reset
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* @param trigger_pin GPIO pin to use for triggering a distance
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* measurement. Ignored in UART mode.
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* @param a_ref The analog reference voltage. Ignored in UART mode.
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* @param uart Default UART to use (0 or 1). Ignored in analog mode.
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* @param mode true for analog mode, false otherwise.
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*/
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urm37_context urm37_init(uint8_t a_pin, uint8_t reset_pin,
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uint8_t trigger_pin, float a_ref,
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uint8_t uart, bool analog_mode);
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/**
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* URM37 sensor close function
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*/
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void urm37_close(urm37_context dev);
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/**
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* Reset the device. This will take approximately 3 seconds to
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* complete.
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*
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* @param dev sensor context
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*/
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upm_result_t urm37_reset(urm37_context dev);
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/**
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* Get the distance measurement. A return value of 65535.0
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* in UART mode indicates an invalid measurement.
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*
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* @param dev sensor context
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* @param distance A pointer to a float that will contain the distance
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* in CM if the measurement is successful.
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* @param degrees In UART mode, this specifies the degrees to turn an
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* attached PWM servo connected to the MOTO output on the URM37.
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* Valid values are 0-270. This option is ignored in analog mode. If
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* you are not using this functionality, just pass 0.
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* @return UPM status code
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*/
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upm_result_t urm37_get_distance(urm37_context dev, float *distance,
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int degrees);
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/**
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* Get the temperature measurement. This is only valid in UART mode.
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*
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* @param dev sensor context
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* @param temperature A float pointer containing the measured
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* temperature in degrees C
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* @return UPM status code
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*
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*/
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upm_result_t urm37_get_temperature(urm37_context dev, float* temperature);
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/**
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* In UART mode only, read a value from the EEPROM and return it.
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*
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* @param dev sensor context
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* @param addr The address in the EEPROM to read. Valid values
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* are between 0x00-0x04.
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* @param value A pointer containing the returned value.
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* @return UPM status code
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*/
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upm_result_t urm37_read_eeprom(urm37_context dev, uint8_t addr, uint8_t* value);
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/**
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* In UART mode only, write a value into an address on the EEPROM.
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*
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* @param dev sensor context
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* @param addr The address in the EEPROM to write. Valid values
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* are between 0x00-0x04.
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* @param value The value to write
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* @return UPM status code
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*/
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upm_result_t urm37_write_eeprom(urm37_context dev, uint8_t addr, uint8_t value);
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/**
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* In UART mode only, send a 4-byte command, and return a 4-byte response.
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*
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* @param dev sensor context
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* @param cmd A 4-byte command to transmit
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* @param response The 4-byte response
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* @return UPM response code (success, failure, or timeout)
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*/
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upm_result_t urm37_send_command(urm37_context dev, char* cmd, char* response);
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#ifdef __cplusplus
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}
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#endif
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#endif /* URM37_H_ */
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