mirror of
https://github.com/eclipse/upm.git
synced 2025-07-01 09:21:12 +03:00
HCSR04: Modifying implementation and adding examples
Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
This commit is contained in:
Abhishek Malik
@ -1,5 +1,8 @@
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set (libname "hcsr04")
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set (libdescription "Ultrasonic Distance Measuring Sensor")
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set (module_src ${libname}.cxx)
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set (module_hpp ${libname}.hpp)
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upm_module_init(mraa)
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upm_mixed_module_init (NAME hcsr04
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DESCRIPTION "Micropik HCSR04"
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C_HDR hcsr04.h
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C_SRC hcsr04.c
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CPP_HDR hcsr04.hpp
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CPP_SRC hcsr04.cxx
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CPP_WRAPS_C
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REQUIRES mraa utilities-c)
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121
src/hcsr04/hcsr04.c
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121
src/hcsr04/hcsr04.c
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@ -0,0 +1,121 @@
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/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Author: Rafael Neri <rafael.neri@gmail.com>
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* Author: Jun Kato <i@junkato.jp>
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* Contributions by: Abhishek Malik <abhishek.malik@intel.com>
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* Copyright (c) 2014-2015 Intel Corporation.
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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 "upm_utilities.h"
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#include "hcsr04.h"
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hcsr04_context hcsr04_init(int triggerPin, int echoPin) {
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// make sure MRAA is initialized
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int mraa_rv;
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if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
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{
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printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
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return NULL;
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}
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hcsr04_context dev = (hcsr04_context) malloc(sizeof(struct _hcsr04_context));
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if(!dev) {
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return NULL;
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}
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// initialize the GPIO pins
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dev->trigPin = mraa_gpio_init(triggerPin);
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if(!dev->trigPin) {
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printf("Unable to initialize the trigger pin\n");
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return NULL;
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}
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dev->echoPin = mraa_gpio_init(echoPin);
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if(!dev->echoPin) {
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printf("Unable to initialize the echo pin\n");
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return NULL;
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}
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// Setting direction for the GPIO pins
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if(mraa_gpio_dir(dev->trigPin, MRAA_GPIO_OUT) != MRAA_SUCCESS) {
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printf("Unable to set the direction of the trigger Pin\n");
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return NULL;
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}
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if(mraa_gpio_dir(dev->echoPin, MRAA_GPIO_IN) != MRAA_SUCCESS) {
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printf("Unable to set the direction of the echo Pin\n");
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return NULL;
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}
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// Setting the trigger pin to logic level 0
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if(mraa_gpio_write(dev->trigPin, 0) != MRAA_SUCCESS)
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return NULL;
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// initialize the interrupt counter
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dev->interruptCounter = 0;
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return dev;
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}
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void hcsr04_close(hcsr04_context dev) {
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mraa_gpio_close(dev->trigPin);
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mraa_gpio_close(dev->echoPin);
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free(dev);
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}
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double hcsr04_get_distance(hcsr04_context dev, HCSR04_U unit) {
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// set value to start cycle right after trigger
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long cycleLength = 0, sampleTime = 0;
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struct timeval tv;
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int reading = 0;
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dev->interruptCounter = 0;
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gettimeofday(&tv, NULL);
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// The datasheet suggests using cycles of upto 60 ms
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// being a little libteral and using 70 ms, though a limit
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// should not be necessary at all
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cycleLength = (1000000 * tv.tv_sec) + tv.tv_usec + 70000;
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mraa_gpio_write(dev->trigPin, 1);
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upm_delay_us(10);
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mraa_gpio_write(dev->trigPin, 0);
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while(sampleTime < cycleLength) {
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reading = mraa_gpio_read(dev->echoPin);
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if(reading == 1 && dev->interruptCounter == 0) {
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gettimeofday(&tv, NULL);
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dev->startTime = (1000000 * tv.tv_sec) + tv.tv_usec;
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dev->interruptCounter++;
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} else if(reading == 0 && dev->interruptCounter == 1) {
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gettimeofday(&tv, NULL);
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dev->endTime = (1000000 * tv.tv_sec) + tv.tv_usec;
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break;
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} else {
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sampleTime = (1000000 * tv.tv_sec) + tv.tv_usec;
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}
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}
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if(unit == HCSR04_CM)
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return ((dev->endTime - dev->startTime)/2)/29.1;
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else
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return ((dev->endTime - dev->startTime)/2)/74.1;
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}
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@ -26,94 +26,26 @@
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#include <iostream>
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#include <string>
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#include <stdexcept>
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#include <unistd.h>
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#include <stdlib.h>
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#include <functional>
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#ifdef JAVACALLBACK
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#undef JAVACALLBACK
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#endif
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#include "hcsr04.hpp"
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using namespace upm;
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HCSR04::HCSR04 (int triggerPin, int echoPin) {
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m_name = "HCSR04";
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m_triggerPinCtx = mraa_gpio_init (triggerPin);
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if (m_triggerPinCtx == NULL) {
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_pwm_init() failed, invalid pin?");
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return;
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}
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mraa_gpio_dir(m_triggerPinCtx, MRAA_GPIO_OUT);
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mraa_gpio_write (m_triggerPinCtx, 0);
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m_echoPinCtx = mraa_gpio_init(echoPin);
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if (m_echoPinCtx == NULL) {
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init() failed, invalid pin?");
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return;
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}
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mraa_gpio_dir(m_echoPinCtx, MRAA_GPIO_IN);
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mraa_gpio_isr(m_echoPinCtx, MRAA_GPIO_EDGE_BOTH, &ackEdgeDetected, (void*)this);
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}
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HCSR04::~HCSR04 () {
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mraa_result_t error = MRAA_SUCCESS;
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error = mraa_gpio_close (m_triggerPinCtx);
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if (error != MRAA_SUCCESS) {
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mraa_result_print (error);
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}
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error = mraa_gpio_close (m_echoPinCtx);
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if (error != MRAA_SUCCESS) {
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mraa_result_print (error);
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}
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}
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double
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HCSR04::timing() {
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mraa_gpio_write (m_triggerPinCtx, 1);
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usleep(10);
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mraa_gpio_write (m_triggerPinCtx, 0);
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m_doWork = 0;
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m_InterruptCounter = 0;
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while (!m_doWork) {
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usleep (5);
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}
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return m_FallingTimeStamp - m_RisingTimeStamp;
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}
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void
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HCSR04::ackEdgeDetected (void *ctx) {
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upm::HCSR04 *This = (upm::HCSR04 *)ctx;
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struct timeval timer;
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gettimeofday(&timer, NULL);
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This->m_InterruptCounter++;
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if (!(This->m_InterruptCounter % 2)) {
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This->m_FallingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
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This->m_doWork = 1;
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} else {
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This->m_RisingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
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}
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}
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double
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HCSR04::getDistance(int sys)
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HCSR04::HCSR04 (int triggerPin, int echoPin) :
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m_hcsr04(hcsr04_init(triggerPin, echoPin))
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{
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double _timing = timing();
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if (sys)
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{
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return (_timing/2) / 29.1;
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} else {
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return (_timing/2) / 74.1;
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}
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if(!m_hcsr04)
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throw std::runtime_error(std::string(__FUNCTION__) +
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": hcsr04_init failed");
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}
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HCSR04::~HCSR04 ()
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{
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hcsr04_close(m_hcsr04);
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}
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double
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HCSR04::getDistance(HCSR04_U unit)
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{
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return hcsr04_get_distance(m_hcsr04, unit);
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}
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84
src/hcsr04/hcsr04.h
Normal file
84
src/hcsr04/hcsr04.h
Normal file
@ -0,0 +1,84 @@
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/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Author: Rafael Neri <rafael.neri@gmail.com>
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* Author: Jun Kato <i@junkato.jp>
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* Contributions by: Abhishek Malik <abhishek.malik@intel.com>
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* Copyright (c) 2014-2015 Intel Corporation.
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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 <stdio.h>
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#include <string.h>
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#include <mraa/gpio.h>
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#include <sys/time.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef enum {
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HCSR04_CM = 0,
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HCSR04_INCH } HCSR04_U;
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/**
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* @file hcsr04.h
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* @library hcsr04
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* @brief C API for the HCSR04 Ultrasonic Ranger sensor
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*
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* @include hcsr04.c
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*/
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typedef struct _hcsr04_context {
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mraa_gpio_context trigPin;
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mraa_gpio_context echoPin;
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int interruptCounter;
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long startTime;
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long endTime;
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} *hcsr04_context;
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/**
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* HCSR04 Initialization function
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*
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* @param triggerPin GPIO pin for trigger
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* @param echoPin GPIO pin used for output from sensor
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* @return hcsr04_context
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*/
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hcsr04_context hcsr04_init(int triggerPin, int echoPin);
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/**
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* HCSR04 Close function
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*
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* @param dev hcsr04_context pointer
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*/
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void hcsr04_close(hcsr04_context dev);
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/**
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* Function to get the distance from the HCSR04 sensor
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*
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* @param unit cm/inches
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* @return distance in specified unit
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*/
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double hcsr04_get_distance(hcsr04_context dev, HCSR04_U unit);
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#ifdef __cplusplus
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}
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#endif
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@ -24,14 +24,7 @@
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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 <mraa/pwm.h>
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#include <sys/time.h>
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#define CM 1
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#define INC 0
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#include "hcsr04.h"
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namespace upm {
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/**
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@ -73,37 +66,13 @@ class HCSR04 {
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/**
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* Gets the distance from the sensor
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*
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* @param sys Selects units for measurement: 0 = inch, 1 = cm
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* @param unit Selects units for measurement
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*/
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double getDistance (int sys);
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uint8_t m_doWork; /**< Flag to control blocking function while waiting for a falling-edge interrupt */
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/**
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* Returns the name of the sensor
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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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double getDistance (HCSR04_U unit);
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private:
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/**
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* On each interrupt, this function detects if the interrupt
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* was falling-edge or rising-edge.
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*/
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static void ackEdgeDetected (void *ctx);
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double timing();
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mraa_gpio_context m_triggerPinCtx;
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mraa_gpio_context m_echoPinCtx;
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long m_RisingTimeStamp;
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long m_FallingTimeStamp;
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uint8_t m_InterruptCounter;
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std::string m_name;
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};
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hcsr04_context m_hcsr04;
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HCSR04(const HCSR04& src) { /* do not create copied constructor */ }
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HCSR04& operator=(const HCSR04&) {return *this;}
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};
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}
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@ -5,6 +5,7 @@
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#include "hcsr04.hpp"
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%}
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%include "hcsr04.h"
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%include "hcsr04.hpp"
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%pragma(java) jniclasscode=%{
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@ -5,4 +5,5 @@
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#include "hcsr04.hpp"
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%}
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%include "hcsr04.h"
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%include "hcsr04.hpp"
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@ -5,6 +5,7 @@
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%feature("autodoc", "3");
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%include "hcsr04.h"
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%include "hcsr04.hpp"
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%{
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#include "hcsr04.hpp"
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Reference in New Issue
Block a user