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urm37: Add C library for this sensor

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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>
This commit is contained in:
Jon Trulson
2016-08-24 16:04:56 -06:00
committed by Noel Eck
parent 196654e7c6
commit 46460e20d9
10 changed files with 861 additions and 305 deletions
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55
src/urm37/urm37.hpp
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@ -1,6 +1,6 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
* Copyright (c) 2015-2016 Intel Corporation.
*
* Thanks to Adafruit for supplying a google translated version of the
* Chinese datasheet and some clues in their code.
@ -33,12 +33,7 @@
#include <unistd.h>
#include <string.h>
#include <mraa/common.hpp>
#include <mraa/uart.hpp>
#include <mraa/aio.hpp>
#include <mraa/gpio.hpp>
#define URM37_DEFAULT_UART 0
#include "urm37.h"
namespace upm {
/**
@ -153,52 +148,10 @@ namespace upm {
void writeEEPROM(uint8_t addr, uint8_t value);
protected:
mraa::Uart *m_uart;
mraa::Aio *m_aio;
mraa::Gpio *m_gpioTrigger;
mraa::Gpio m_gpioReset;
// initialize reset gpio and call reset
void init();
// send a serial command and return a 4 byte response (UART mode only)
std::string sendCommand(std::string cmd);
// urm37 device context
urm37_context m_urm37;
private:
/**
* Checks to see if there is data aavailable for reading
*
* @param millis Number of milliseconds to wait; 0 means no waiting
* @return true if there is data available for reading
*/
bool dataAvailable(unsigned int millis);
/**
* Reads any available data and returns it in a std::string. Note:
* the call blocks until data is available for reading. Use
* dataAvailable() to determine whether there is data available
* beforehand, to avoid blocking.
*
* @param len Maximum length of the data to be returned
* @return Number of bytes read
*/
std::string readDataStr(int len);
/**
* Writes the std:string data to the device. If you are writing a
* command, be sure to terminate it with a carriage return (\r)
*
* @param data Buffer to write to the device
* @return Number of bytes written
*/
int writeDataStr(std::string data);
// analog or UART mode
bool m_analogMode;
// analog reference and resolution
float m_aref;
int m_aRes;
};
}