/* * Author: Yevgeniy Kiveisha * Copyright (c) 2014 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 #include #include #include #include #define HIGH 1 #define LOW 0 #define MAX_PERIOD 7968 #define TRIGGER_PULSE 10 namespace upm { /** * @brief HC-SR04 ultrasonic sensor library * @defgroup hcsr04 libupm-hcsr04 * @ingroup generic gpio sound */ /** * @library hcsr04 * @sensor hcsr04 * @comname HCSR04 Ultrasonic Sensor * @type sound * @man generic * @con gpio * * @brief C++ API for HCSR04 (ultrasonic ranging module) component * * This file defines the HCSR04 C++ interface for libhcsr04 * * @snippet hcsr04.cxx Interesting */ class HCSR04 { public: /** * Instanciates a HCSR04 object * * @param triggerPin pin for triggering the sensor for distance * @param echoPin pulse response to triggering * @param fptr function pointer for handling raising and * falling interrupts */ HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *)); /** * HCSR04 object destructor. */ ~HCSR04 (); /** * Get the distance from the sensor. */ int getDistance (); /** * On each interrupt this function will detect if the interrupt * was falling edge or rising. * Should be called from the interrupt handler. */ void ackEdgeDetected (); uint8_t m_doWork; /**< Flag to controll blocking function while waiting for falling edge interrupt */ /** * Return name of the component */ std::string name() { return m_name; } private: mraa_pwm_context m_pwmTriggerCtx; mraa_gpio_context m_echoPinCtx; uint8_t m_waitEcho; long m_RisingTimeStamp; long m_FallingTimeStamp; uint8_t m_InterruptCounter; std::string m_name; }; }