upm/src/hcsr04/hcsr04.cxx
Petre a21db7ca78 java: fix SWIGJAVA build errors
Signed-off-by: Petre <petre.p.eftime@intel.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
2015-09-04 13:49:36 -07:00

101 lines
3.0 KiB
C++

/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* 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.
*/
#include <iostream>
#include <unistd.h>
#include <stdlib.h>
#include <functional>
#include "hcsr04.h"
using namespace upm;
#ifdef SWIGJAVA
HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, IsrCallback *cb)
{
HCSR04 (triggerPin, echoPin, generic_callback_isr);
}
#endif
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;
exit (1);
}
mraa_init();
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);
exit (1);
}
mraa_gpio_dir(m_echoPinCtx, MRAA_GPIO_IN);
mraa_gpio_isr(m_echoPinCtx, MRAA_GPIO_EDGE_BOTH, fptr, NULL);
}
HCSR04::~HCSR04 () {
mraa_result_t error = MRAA_SUCCESS;
mraa_pwm_close (m_pwmTriggerCtx);
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);
m_doWork = 0;
m_InterruptCounter = 0;
while (!m_doWork) {
sleep (1);
}
return m_FallingTimeStamp - m_RisingTimeStamp;
}
void
HCSR04::ackEdgeDetected () {
struct timeval timer;
gettimeofday(&timer, NULL);
++m_InterruptCounter;
if (!(m_InterruptCounter % 2)) {
m_FallingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
m_doWork = 1;
} else {
m_RisingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
}
}