diff --git a/examples/c++/CMakeLists.txt b/examples/c++/CMakeLists.txt index f194adca..672be7d2 100644 --- a/examples/c++/CMakeLists.txt +++ b/examples/c++/CMakeLists.txt @@ -18,7 +18,7 @@ add_executable (nrf24l01-transmitter-example nrf24l01-transmitter.cxx) add_executable (nrf24l01-receiver-example nrf24l01-receiver.cxx) add_executable (nrf24l01-broadcast-example nrf24l01-broadcast.cxx) add_executable (es08a-example es08a.cxx) -add_executable (son-hcsr04-example hcsr04.cxx) +add_executable (hcsr04-example hcsr04.cxx) add_executable (ssd1308-oled-example ssd1308-oled.cxx) add_executable (ssd1327-oled-example ssd1327-oled.cxx) add_executable (max44000-example max44000.cxx) @@ -269,7 +269,7 @@ target_link_libraries (nrf24l01-transmitter-example nrf24l01 ${CMAKE_THREAD_LIBS target_link_libraries (nrf24l01-receiver-example nrf24l01 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (nrf24l01-broadcast-example nrf24l01 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (es08a-example servo ${CMAKE_THREAD_LIBS_INIT}) -target_link_libraries (son-hcsr04-example hcsr04 ${CMAKE_THREAD_LIBS_INIT}) +target_link_libraries (hcsr04-example hcsr04 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (ssd1308-oled-example i2clcd ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (ssd1327-oled-example i2clcd ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (max44000-example max44000 ${CMAKE_THREAD_LIBS_INIT}) diff --git a/examples/c++/hcsr04.cxx b/examples/c++/hcsr04.cxx index 52a470ca..5a9a485f 100644 --- a/examples/c++/hcsr04.cxx +++ b/examples/c++/hcsr04.cxx @@ -50,11 +50,17 @@ interrupt (void * args) { int main(int argc, char **argv) { - sonar = new upm::HCSR04(5, 7, &interrupt); + sonar = new upm::HCSR04(5, 6, &interrupt); signal(SIGINT, sig_handler); - printf ("width = %d\n", sonar->getDistance()); - std::cout << "exiting application" << std::endl; + sleep(1); + + for(;;){ + std::cout << "get distance" << std::endl; + double distance = sonar->getDistance(CM); + std::cout << "distance " << distance << std::endl; + sleep(5); + } delete sonar; diff --git a/src/hcsr04/hcsr04.cxx b/src/hcsr04/hcsr04.cxx index 6393a6a0..4340b817 100644 --- a/src/hcsr04/hcsr04.cxx +++ b/src/hcsr04/hcsr04.cxx @@ -1,6 +1,7 @@ /* * Author: Yevgeniy Kiveisha - * Copyright (c) 2014 Intel Corporation. + * Author: Rafael Neri + * Copyright (c) 2014-2015 Intel Corporation. * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the @@ -42,13 +43,17 @@ HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *)) { mraa_result_t error = MRAA_SUCCESS; m_name = "HCSR04"; - m_pwmTriggerCtx = mraa_pwm_init (triggerPin); - if (m_pwmTriggerCtx == NULL) { - std::cout << "PWM context is NULL" << std::endl; + mraa_init(); + + m_triggerPinCtx = mraa_gpio_init (triggerPin); + if (m_triggerPinCtx == NULL) { + fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", triggerPin); exit (1); } - mraa_init(); + mraa_gpio_dir(m_triggerPinCtx, MRAA_GPIO_OUT); + mraa_gpio_write (m_triggerPinCtx, 0); + m_echoPinCtx = mraa_gpio_init(echoPin); if (m_echoPinCtx == NULL) { fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", echoPin); @@ -62,24 +67,27 @@ HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *)) { HCSR04::~HCSR04 () { mraa_result_t error = MRAA_SUCCESS; - mraa_pwm_close (m_pwmTriggerCtx); + error = mraa_gpio_close (m_triggerPinCtx); + if (error != MRAA_SUCCESS) { + mraa_result_print (error); + } + error = mraa_gpio_close (m_echoPinCtx); if (error != MRAA_SUCCESS) { mraa_result_print (error); } } -int -HCSR04::getDistance () { - mraa_pwm_enable (m_pwmTriggerCtx, 1); - mraa_pwm_period_us (m_pwmTriggerCtx, MAX_PERIOD); - mraa_pwm_pulsewidth_us (m_pwmTriggerCtx, TRIGGER_PULSE); - mraa_pwm_enable (m_pwmTriggerCtx, 0); +double +HCSR04::timing() { + mraa_gpio_write (m_triggerPinCtx, 1); + usleep(10); + mraa_gpio_write (m_triggerPinCtx, 0); m_doWork = 0; m_InterruptCounter = 0; while (!m_doWork) { - sleep (1); + usleep (5); } return m_FallingTimeStamp - m_RisingTimeStamp; @@ -98,3 +106,15 @@ HCSR04::ackEdgeDetected () { m_RisingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec; } } + +double +HCSR04::getDistance(int sys) +{ + double _timing = timing(); + if (sys) + { + return (_timing/2) / 29.1; + } else { + return (_timing/2) / 74.1; + } +} diff --git a/src/hcsr04/hcsr04.h b/src/hcsr04/hcsr04.h index a89b61e4..74e30aab 100644 --- a/src/hcsr04/hcsr04.h +++ b/src/hcsr04/hcsr04.h @@ -1,6 +1,7 @@ - /* +/* * Author: Yevgeniy Kiveisha - * Copyright (c) 2014 Intel Corporation. + * Author: Rafael Neri + * Copyright (c) 2014-2015 Intel Corporation. * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the @@ -33,11 +34,8 @@ #include "../IsrCallback.h" #endif -#define HIGH 1 -#define LOW 0 - -#define MAX_PERIOD 7968 -#define TRIGGER_PULSE 10 +#define CM 1 +#define INC 0 namespace upm { /** @@ -62,9 +60,6 @@ namespace upm { */ class HCSR04 { public: -#if defined(SWIGJAVA) || defined(JAVACALLBACK) - HCSR04 (uint8_t triggerPin, uint8_t echoPin, IsrCallback *cb); -#else /** * Instantiates an HCSR04 object * @@ -73,6 +68,9 @@ class HCSR04 { * @param fptr Function pointer to handle rising-edge and * falling-edge interrupts */ +#if defined(SWIGJAVA) || defined(JAVACALLBACK) + HCSR04 (uint8_t triggerPin, uint8_t echoPin, IsrCallback *cb); +#else HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *)); #endif /** @@ -83,7 +81,7 @@ class HCSR04 { /** * Gets the distance from the sensor */ - int getDistance (); + double getDistance (int sys); /** * On each interrupt, this function detects if the interrupt @@ -106,10 +104,10 @@ class HCSR04 { #if defined(SWIGJAVA) || defined(JAVACALLBACK) HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *)); #endif - mraa_pwm_context m_pwmTriggerCtx; - mraa_gpio_context m_echoPinCtx; + double timing(); + mraa_gpio_context m_triggerPinCtx; + mraa_gpio_context m_echoPinCtx; - uint8_t m_waitEcho; long m_RisingTimeStamp; long m_FallingTimeStamp; uint8_t m_InterruptCounter;