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a21db7ca78
Signed-off-by: Petre <petre.p.eftime@intel.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
101 lines
3.0 KiB
C++
101 lines
3.0 KiB
C++
/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Copyright (c) 2014 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 <iostream>
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#include <unistd.h>
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#include <stdlib.h>
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#include <functional>
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#include "hcsr04.h"
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using namespace upm;
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#ifdef SWIGJAVA
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HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, IsrCallback *cb)
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{
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HCSR04 (triggerPin, echoPin, generic_callback_isr);
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}
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#endif
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HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *)) {
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mraa_result_t error = MRAA_SUCCESS;
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m_name = "HCSR04";
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m_pwmTriggerCtx = mraa_pwm_init (triggerPin);
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if (m_pwmTriggerCtx == NULL) {
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std::cout << "PWM context is NULL" << std::endl;
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exit (1);
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}
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mraa_init();
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m_echoPinCtx = mraa_gpio_init(echoPin);
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if (m_echoPinCtx == NULL) {
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fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", echoPin);
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exit (1);
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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, fptr, NULL);
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}
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HCSR04::~HCSR04 () {
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mraa_result_t error = MRAA_SUCCESS;
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mraa_pwm_close (m_pwmTriggerCtx);
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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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int
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HCSR04::getDistance () {
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mraa_pwm_enable (m_pwmTriggerCtx, 1);
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mraa_pwm_period_us (m_pwmTriggerCtx, MAX_PERIOD);
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mraa_pwm_pulsewidth_us (m_pwmTriggerCtx, TRIGGER_PULSE);
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mraa_pwm_enable (m_pwmTriggerCtx, 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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sleep (1);
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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 () {
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struct timeval timer;
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gettimeofday(&timer, NULL);
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++m_InterruptCounter;
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if (!(m_InterruptCounter % 2)) {
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m_FallingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
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m_doWork = 1;
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} else {
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m_RisingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
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}
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}
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