mirror of
https://github.com/eclipse/upm.git
synced 2025-03-14 20:47:30 +03:00
mb704x: Initial implementation; C; FTI; C++ wraps C
Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
parent
e1e9067744
commit
6667646d32
@ -324,6 +324,7 @@ add_example (sht1x)
|
||||
add_example (ms5803)
|
||||
add_example (ims)
|
||||
add_example (ecezo)
|
||||
add_example (mb704x)
|
||||
|
||||
# These are special cases where you specify example binary, source file and module(s)
|
||||
include_directories (${PROJECT_SOURCE_DIR}/src)
|
||||
|
70
examples/c++/mb704x.cxx
Normal file
70
examples/c++/mb704x.cxx
Normal file
@ -0,0 +1,70 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* 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 <signal.h>
|
||||
|
||||
#include <upm_utilities.h>
|
||||
#include <mb704x.hpp>
|
||||
|
||||
using namespace std;
|
||||
using namespace upm;
|
||||
|
||||
bool shouldRun = true;
|
||||
|
||||
void sig_handler(int signo)
|
||||
{
|
||||
if (signo == SIGINT)
|
||||
shouldRun = false;
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
signal(SIGINT, sig_handler);
|
||||
|
||||
//! [Interesting]
|
||||
|
||||
// Instantiate a MB704X sensor using default parameters (bus 0,
|
||||
// address 112)
|
||||
upm::MB704X *sensor = new upm::MB704X();
|
||||
|
||||
while (shouldRun)
|
||||
{
|
||||
cout << "Range: "
|
||||
<< sensor->getRange()
|
||||
<< " cm"
|
||||
<< endl;
|
||||
|
||||
upm_delay_ms(500);
|
||||
}
|
||||
|
||||
|
||||
cout << "Exiting..." << endl;
|
||||
|
||||
delete sensor;
|
||||
|
||||
//! [Interesting]
|
||||
|
||||
return 0;
|
||||
}
|
@ -140,6 +140,7 @@ add_example (my9221)
|
||||
add_example (ms5803)
|
||||
add_example (ims)
|
||||
add_example (ecezo)
|
||||
add_example (mb704x)
|
||||
|
||||
# Custom examples
|
||||
add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)
|
||||
|
77
examples/c/mb704x.c
Normal file
77
examples/c/mb704x.c
Normal file
@ -0,0 +1,77 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* 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 <signal.h>
|
||||
|
||||
#include <upm_utilities.h>
|
||||
#include <mb704x.h>
|
||||
|
||||
bool shouldRun = true;
|
||||
|
||||
void sig_handler(int signo)
|
||||
{
|
||||
if (signo == SIGINT)
|
||||
shouldRun = false;
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
signal(SIGINT, sig_handler);
|
||||
|
||||
//! [Interesting]
|
||||
|
||||
// Instantiate a MB704X sensor on i2c bus 0, address 112.
|
||||
mb704x_context sensor = mb704x_init(0, 112);
|
||||
|
||||
if (!sensor)
|
||||
{
|
||||
printf("mb704x_init() failed.\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
while (shouldRun)
|
||||
{
|
||||
// this will take about 1 second to complete
|
||||
int range = mb704x_get_range(sensor);
|
||||
if (range < 0)
|
||||
{
|
||||
printf("Error getting range.\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Range: %d cm\n", range);
|
||||
}
|
||||
|
||||
upm_delay_ms(500);
|
||||
}
|
||||
|
||||
printf("Exiting\n");
|
||||
|
||||
mb704x_close(sensor);
|
||||
|
||||
//! [Interesting]
|
||||
|
||||
return 0;
|
||||
}
|
@ -159,6 +159,7 @@ add_example(SHT1X_Example sht1x)
|
||||
add_example(MS5803_Example ms5803)
|
||||
add_example(ECEZO_Example ecezo)
|
||||
add_example(IMS_Example ims)
|
||||
add_example(MB704X_Example mb704x)
|
||||
|
||||
add_example_with_path(Jhd1313m1_lcdSample lcd i2clcd)
|
||||
add_example_with_path(Jhd1313m1Sample lcd i2clcd)
|
||||
|
48
examples/java/MB704X_Example.java
Normal file
48
examples/java/MB704X_Example.java
Normal file
@ -0,0 +1,48 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
import upm_mb704x.MB704X;
|
||||
|
||||
public class MB704X_Example
|
||||
{
|
||||
public static void main(String[] args) throws InterruptedException
|
||||
{
|
||||
// ! [Interesting]
|
||||
|
||||
// Instantiate a MB704X sensor using default parameters (bus 0,
|
||||
// address 112)
|
||||
MB704X sensor = new MB704X();
|
||||
|
||||
while (true)
|
||||
{
|
||||
System.out.println("Range: "
|
||||
+ sensor.getRange()
|
||||
+ " cm");
|
||||
|
||||
Thread.sleep(500);
|
||||
}
|
||||
|
||||
// ! [Interesting]
|
||||
}
|
||||
}
|
47
examples/javascript/mb704x.js
Normal file
47
examples/javascript/mb704x.js
Normal file
@ -0,0 +1,47 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* 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 sensorObj = require('jsupm_mb704x');
|
||||
|
||||
// Instantiate a MB704X sensor using default parameters (bus 0,
|
||||
// address 112)
|
||||
var sensor = new sensorObj.MB704X();
|
||||
|
||||
setInterval(function()
|
||||
{
|
||||
console.log("Range: "
|
||||
+ sensor.getRange()
|
||||
+ " cm");
|
||||
|
||||
}, 500);
|
||||
|
||||
// exit on ^C
|
||||
process.on('SIGINT', function()
|
||||
{
|
||||
sensor = null;
|
||||
sensorObj.cleanUp();
|
||||
sensorObj = null;
|
||||
console.log("Exiting.");
|
||||
process.exit(0);
|
||||
});
|
56
examples/python/mb704x.py
Executable file
56
examples/python/mb704x.py
Executable file
@ -0,0 +1,56 @@
|
||||
#!/usr/bin/python
|
||||
# Author: Jon Trulson <jtrulson@ics.com>
|
||||
# Copyright (c) 2016 Intel Corporation.
|
||||
#
|
||||
# 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.
|
||||
|
||||
from __future__ import print_function
|
||||
import time, sys, signal, atexit
|
||||
from upm import pyupm_mb704x as sensorObj
|
||||
|
||||
def main():
|
||||
# Instantiate a MB704X sensor using default parameters (bus 0,
|
||||
# address 112)
|
||||
sensor = sensorObj.MB704X();
|
||||
|
||||
## Exit handlers ##
|
||||
# This function stops python from printing a stacktrace when you
|
||||
# hit control-C
|
||||
def SIGINTHandler(signum, frame):
|
||||
raise SystemExit
|
||||
|
||||
# This function lets you run code on exit
|
||||
def exitHandler():
|
||||
print("Exiting")
|
||||
sys.exit(0)
|
||||
|
||||
# Register exit handlers
|
||||
atexit.register(exitHandler)
|
||||
signal.signal(signal.SIGINT, SIGINTHandler)
|
||||
|
||||
while (1):
|
||||
print("Range: "
|
||||
+ str(sensor.getRange())
|
||||
+ " cm")
|
||||
|
||||
time.sleep(.5)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
9
src/mb704x/CMakeLists.txt
Normal file
9
src/mb704x/CMakeLists.txt
Normal file
@ -0,0 +1,9 @@
|
||||
upm_mixed_module_init (NAME mb704x
|
||||
DESCRIPTION "MB7040/7047 I2C MaxSonar WR Ultrasonic Ranger"
|
||||
C_HDR mb704x.h
|
||||
C_SRC mb704x.c
|
||||
CPP_HDR mb704x.hpp
|
||||
CPP_SRC mb704x.cxx
|
||||
FTI_SRC mb704x_fti.c
|
||||
CPP_WRAPS_C
|
||||
REQUIRES mraa)
|
21
src/mb704x/javaupm_mb704x.i
Normal file
21
src/mb704x/javaupm_mb704x.i
Normal file
@ -0,0 +1,21 @@
|
||||
%module javaupm_mb704x
|
||||
%include "../upm.i"
|
||||
%include "std_string.i"
|
||||
%include "stdint.i"
|
||||
%include "typemaps.i"
|
||||
|
||||
%include "mb704x.hpp"
|
||||
%{
|
||||
#include "mb704x.hpp"
|
||||
%}
|
||||
|
||||
%pragma(java) jniclasscode=%{
|
||||
static {
|
||||
try {
|
||||
System.loadLibrary("javaupm_mb704x");
|
||||
} catch (UnsatisfiedLinkError e) {
|
||||
System.err.println("Native code library failed to load. \n" + e);
|
||||
System.exit(1);
|
||||
}
|
||||
}
|
||||
%}
|
8
src/mb704x/jsupm_mb704x.i
Normal file
8
src/mb704x/jsupm_mb704x.i
Normal file
@ -0,0 +1,8 @@
|
||||
%module jsupm_mb704x
|
||||
%include "../upm.i"
|
||||
%include "std_string.i"
|
||||
|
||||
%include "mb704x.hpp"
|
||||
%{
|
||||
#include "mb704x.hpp"
|
||||
%}
|
115
src/mb704x/mb704x.c
Normal file
115
src/mb704x/mb704x.c
Normal file
@ -0,0 +1,115 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* 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 <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
|
||||
#include <upm_utilities.h>
|
||||
|
||||
#include "mb704x.h"
|
||||
|
||||
// The delay to wait (in ms) for a ranging command to complete before
|
||||
// requesting the range data.
|
||||
#define MB704X_RANGE_DELAY (100)
|
||||
|
||||
// range command
|
||||
#define MB704X_CMD_RANGE (81)
|
||||
|
||||
mb704x_context mb704x_init(unsigned int bus, int addr)
|
||||
{
|
||||
// make sure MRAA is initialized
|
||||
int mraa_rv;
|
||||
if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
|
||||
{
|
||||
printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
mb704x_context dev =
|
||||
(mb704x_context)malloc(sizeof(struct _mb704x_context));
|
||||
|
||||
if (!dev)
|
||||
return NULL;
|
||||
|
||||
// zero out context
|
||||
memset((void *)dev, 0, sizeof(struct _mb704x_context));
|
||||
|
||||
// initialize the MRAA contexts
|
||||
|
||||
if (!(dev->i2c = mraa_i2c_init(bus)))
|
||||
{
|
||||
printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
|
||||
mb704x_close(dev);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (mraa_i2c_address(dev->i2c, (uint8_t)addr))
|
||||
{
|
||||
printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
|
||||
mb704x_close(dev);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
// max power up delay
|
||||
upm_delay_ms(135);
|
||||
|
||||
return dev;
|
||||
}
|
||||
|
||||
void mb704x_close(mb704x_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
if (dev->i2c)
|
||||
mraa_i2c_stop(dev->i2c);
|
||||
|
||||
free(dev);
|
||||
}
|
||||
|
||||
int mb704x_get_range(const mb704x_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
// first, send the range command.
|
||||
uint8_t cmd = MB704X_CMD_RANGE;
|
||||
if (mraa_i2c_write(dev->i2c, &cmd, 1))
|
||||
{
|
||||
printf("%s: mraa_i2c_write() failed.\n", __FUNCTION__);
|
||||
return -1;
|
||||
}
|
||||
|
||||
// delay for measurement
|
||||
upm_delay_ms(MB704X_RANGE_DELAY);
|
||||
|
||||
// At this point, we should be able to do our read of the data
|
||||
uint8_t buffer[2];
|
||||
if (mraa_i2c_read(dev->i2c, buffer, 2) != 2)
|
||||
{
|
||||
printf("%s: mraa_i2c_read() failed.\n", __FUNCTION__);
|
||||
return -1;
|
||||
}
|
||||
|
||||
return ((buffer[0] << 8) | buffer[1]);
|
||||
}
|
49
src/mb704x/mb704x.cxx
Normal file
49
src/mb704x/mb704x.cxx
Normal file
@ -0,0 +1,49 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* 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 <stdexcept>
|
||||
|
||||
#include "mb704x.hpp"
|
||||
|
||||
using namespace upm;
|
||||
using namespace std;
|
||||
|
||||
MB704X::MB704X(unsigned int bus, unsigned int addr) :
|
||||
m_mb704x(mb704x_init(bus, addr))
|
||||
{
|
||||
if (!m_mb704x)
|
||||
throw std::runtime_error(string(__FUNCTION__)
|
||||
+ ": mb704x_*_init() failed");
|
||||
}
|
||||
|
||||
MB704X::~MB704X()
|
||||
{
|
||||
mb704x_close(m_mb704x);
|
||||
}
|
||||
|
||||
int MB704X::getRange()
|
||||
{
|
||||
return mb704x_get_range(m_mb704x);
|
||||
}
|
78
src/mb704x/mb704x.h
Normal file
78
src/mb704x/mb704x.h
Normal file
@ -0,0 +1,78 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* 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 <stdint.h>
|
||||
#include <upm.h>
|
||||
#include <mraa/i2c.h>
|
||||
#include <mraa/gpio.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @file mb704x.h
|
||||
* @library mb704x
|
||||
* @brief C API for the MB704x MaxSonar-WR Ultrasonic Ranger
|
||||
*
|
||||
* @include mb704x.c
|
||||
*/
|
||||
|
||||
/**
|
||||
* Device context
|
||||
*/
|
||||
typedef struct _mb704x_context {
|
||||
mraa_i2c_context i2c;
|
||||
} *mb704x_context;
|
||||
|
||||
/**
|
||||
* MB704X Initializer
|
||||
*
|
||||
* @param bus Specify which the I2C bus to use.
|
||||
* @param addr Specify the I2C address to use. The default is 112.
|
||||
* @return an initialized device context on success, NULL on error.
|
||||
*/
|
||||
mb704x_context mb704x_init(unsigned int bus, int addr);
|
||||
|
||||
/**
|
||||
* MB704X sensor close function
|
||||
*/
|
||||
void mb704x_close(mb704x_context dev);
|
||||
|
||||
/**
|
||||
* Query the device for a range reading. The range will be
|
||||
* reported in centimeters (cm).
|
||||
*
|
||||
* @param dev Device context
|
||||
* @return Measured range, -1 on error. The range is reported in
|
||||
* centimeters (cm).
|
||||
*/
|
||||
int mb704x_get_range(const mb704x_context dev);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
94
src/mb704x/mb704x.hpp
Normal file
94
src/mb704x/mb704x.hpp
Normal file
@ -0,0 +1,94 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* 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 <iostream>
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "mb704x.h"
|
||||
|
||||
namespace upm {
|
||||
/**
|
||||
* @brief API for the MB704x MaxSonar-WR Ultrasonic Ranger
|
||||
* @defgroup mb704x libupm-mb704x
|
||||
* @ingroup i2c sound
|
||||
*/
|
||||
|
||||
/**
|
||||
* @library mb704x
|
||||
* @sensor mb704x
|
||||
* @comname MB704x MaxSonar-WR Ultrasonic Ranger
|
||||
* @altname MB7040 MB7047 MB7247
|
||||
* @type sound
|
||||
* @man maxbotix
|
||||
* @con i2c
|
||||
* @web http://www.maxbotix.com/Ultrasonic_Sensors/I2C_Distance_Sensors.htm
|
||||
*
|
||||
* @brief API for the MB704x MaxSonar-WR Ultrasonic Ranger
|
||||
*
|
||||
* This driver was tested with the MB704x MaxSonar-WR Ultrasonic
|
||||
* Ranger using the long distance, weather resistant horn.
|
||||
* Depending on your sensor type and horn, tanges from 20cm to
|
||||
* 750cm are possible.
|
||||
*
|
||||
* @snippet mb704x.cxx Interesting
|
||||
*/
|
||||
|
||||
class MB704X {
|
||||
public:
|
||||
|
||||
/**
|
||||
* Initialize a device context.
|
||||
*
|
||||
* @param bus Specify which the I2C bus to use. The default is 0.
|
||||
* @param addr Specify the I2C address to use. The default is 112.
|
||||
*/
|
||||
MB704X(unsigned int bus=0, unsigned int addr=112);
|
||||
|
||||
/**
|
||||
* MB704X object destructor
|
||||
*/
|
||||
~MB704X();
|
||||
|
||||
/**
|
||||
* Query the device for a range reading. The range will be
|
||||
* reported in centimeters (cm).
|
||||
*
|
||||
* @param dev Device context
|
||||
* @return Measured range, -1 on error. The range is reported in
|
||||
* centimeters (cm).
|
||||
*/
|
||||
int getRange();
|
||||
|
||||
|
||||
protected:
|
||||
// mb704x device context
|
||||
mb704x_context m_mb704x;
|
||||
|
||||
private:
|
||||
};
|
||||
}
|
113
src/mb704x/mb704x_fti.c
Normal file
113
src/mb704x/mb704x_fti.c
Normal file
@ -0,0 +1,113 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 Intel Corporation.
|
||||
*
|
||||
* 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 "mb704x.h"
|
||||
#include "upm_fti.h"
|
||||
|
||||
/**
|
||||
* This file implements the Function Table Interface (FTI) for this sensor
|
||||
*/
|
||||
|
||||
const char upm_mb704x_name[] = "MB704X";
|
||||
const char upm_mb704x_description[] = "MB704x MaxSonar-WR Ultrasonic Ranger";
|
||||
const upm_protocol_t upm_mb704x_protocol[] = {UPM_I2C};
|
||||
const upm_sensor_t upm_mb704x_category[] = {UPM_DISTANCE};
|
||||
|
||||
// forward declarations
|
||||
const void* upm_mb704x_get_ft(upm_sensor_t sensor_type);
|
||||
void* upm_mb704x_init_name();
|
||||
void upm_mb704x_close(void *dev);
|
||||
upm_result_t upm_mb704x_get_distance(void *dev, float *value,
|
||||
upm_distance_u unit);
|
||||
|
||||
const upm_sensor_descriptor_t upm_es08a_get_descriptor()
|
||||
{
|
||||
upm_sensor_descriptor_t usd;
|
||||
|
||||
usd.name = upm_mb704x_name;
|
||||
usd.description = upm_mb704x_description;
|
||||
usd.protocol_size = 1;
|
||||
usd.protocol = upm_mb704x_protocol;
|
||||
usd.category_size = 1;
|
||||
usd.category = upm_mb704x_category;
|
||||
|
||||
return usd;
|
||||
}
|
||||
|
||||
static const upm_sensor_ft ft =
|
||||
{
|
||||
.upm_sensor_init_name = &upm_mb704x_init_name,
|
||||
.upm_sensor_close = &upm_mb704x_close,
|
||||
};
|
||||
|
||||
static const upm_distance_ft dft =
|
||||
{
|
||||
.upm_distance_get_value = upm_mb704x_get_distance
|
||||
};
|
||||
|
||||
const void* upm_mb704x_get_ft(upm_sensor_t sensor_type)
|
||||
{
|
||||
switch(sensor_type)
|
||||
{
|
||||
case UPM_SENSOR:
|
||||
return &ft;
|
||||
|
||||
case UPM_DISTANCE:
|
||||
return &dft;
|
||||
|
||||
default:
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
void *upm_mb704x_init_name()
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
|
||||
void upm_mb704x_close(void *dev)
|
||||
{
|
||||
mb704x_close((mb704x_context)dev);
|
||||
}
|
||||
|
||||
upm_result_t upm_mb704x_get_distance(void *dev, float *value,
|
||||
upm_distance_u unit)
|
||||
{
|
||||
int rv;
|
||||
|
||||
if ((rv = mb704x_get_range((mb704x_context)dev)) < 0)
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
switch(unit)
|
||||
{
|
||||
case CENTIMETER:
|
||||
*value = (float)rv;
|
||||
case INCH:
|
||||
*value = ((float)rv * 0.393701);
|
||||
default:
|
||||
return UPM_ERROR_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
12
src/mb704x/pyupm_mb704x.i
Normal file
12
src/mb704x/pyupm_mb704x.i
Normal file
@ -0,0 +1,12 @@
|
||||
// Include doxygen-generated documentation
|
||||
%include "pyupm_doxy2swig.i"
|
||||
%module pyupm_mb704x
|
||||
%include "../upm.i"
|
||||
%include "std_string.i"
|
||||
|
||||
%feature("autodoc", "3");
|
||||
|
||||
%include "mb704x.hpp"
|
||||
%{
|
||||
#include "mb704x.hpp"
|
||||
%}
|
Loading…
x
Reference in New Issue
Block a user