upm/src/urm37/urm37_fti.c

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 *         Abhishek Malik <abhishek.malik@intel.com>
 * Copyright (c) 2016 Intel Corporation.
 *
 * Thanks to Adafruit for supplying a google translated version of the
 * Chinese datasheet and some clues in their code.
 *
 * 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 "urm37.h"
#include "upm_fti.h"

/** 
 * This file implements the Function Table Interface (FTI) for this sensor
 */

const char upm_light_name[] = "URM37";
const char upm_light_description[] = "Ultrasonic Ranger";
// problem here is it's an either/or analog vs. uart.  So we will just
// only support analog for now
// 1st gpio is reset, 2nd is trigger
const upm_protocol_t upm_light_protocol[] = {UPM_ANALOG, UPM_GPIO, UPM_GPIO};
const upm_sensor_t upm_light_category[] = {UPM_DISTANCE};

// forward declarations
const void* upm_urm37_get_ft(upm_sensor_t sensor_type);
void* upm_urm37_init_name();
void upm_urm37_close(void* dev);
upm_result_t upm_urm37_get_distance(void* dev, float* distance,
                                    upm_distance_u unit);

static const upm_sensor_ft ft =
{
    .upm_sensor_init_name = &upm_urm37_init_name,
    .upm_sensor_close = &upm_urm37_close,
};

static const upm_distance_ft dft =
{
    .upm_distance_get_value = &upm_urm37_get_distance
};

const void* upm_urm37_get_ft(upm_sensor_t sensor_type)
{
  switch(sensor_type)
    {
    case UPM_SENSOR:
      return &ft;
      
    case UPM_DISTANCE:
      return &dft;
      
    default:
      return NULL;
    }
}

void* upm_urm37_init_name()
{
    return NULL;
}


void upm_urm37_close(void* dev)
{
    urm37_close((urm37_context)dev);
}

upm_result_t upm_urm37_get_distance(void* dev, float* distance,
                                    upm_distance_u unit)
{
  // only cm returned by sensor
  float dist;
  urm37_get_distance((urm37_context)dev, &dist, 0);

  switch(unit)
    {
    case CENTIMETER:
      *distance = dist;
      return UPM_SUCCESS;

    case INCH:
      *distance = dist / 2.54;
      return UPM_SUCCESS;

    default:
      return UPM_ERROR_INVALID_PARAMETER;
    }
}