mirror of
https://github.com/eclipse/upm.git
synced 2025-03-17 14:07:30 +03:00
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++
/*
|
|
* 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;
|
|
}
|
|
}
|