| /* |
| * Author: Jun Kato <i@junkato.jp> |
| * Copyright (c) 2015 Jun Kato. |
| * |
| * Thanks to Seeed Studio for a working arduino sketch |
| * |
| * 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 "groveultrasonic.h" |
| |
| using namespace upm; |
| |
| GroveUltraSonic::GroveUltraSonic (uint8_t pin) { |
| mraa_result_t error = MRAA_SUCCESS; |
| m_name = "GroveUltraSonic"; |
| |
| mraa_init(); |
| |
| // setup pin |
| m_pinCtx = mraa_gpio_init(pin); |
| if (m_pinCtx == NULL) { |
| fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", pin); |
| exit (1); |
| } |
| mraa_gpio_use_mmaped(m_pinCtx, 1); |
| mraa_gpio_isr (m_pinCtx, MRAA_GPIO_EDGE_BOTH, |
| &signalISR, this); |
| } |
| |
| GroveUltraSonic::~GroveUltraSonic () { |
| |
| // close pin |
| mraa_gpio_isr_exit(m_pinCtx); |
| mraa_gpio_close (m_pinCtx); |
| } |
| |
| int |
| GroveUltraSonic::getDistance () { |
| |
| // output trigger signal |
| mraa_gpio_dir(m_pinCtx, MRAA_GPIO_OUT); |
| mraa_gpio_write(m_pinCtx, LOW); |
| usleep(2); |
| mraa_gpio_write(m_pinCtx, HIGH); |
| usleep(5); |
| mraa_gpio_write(m_pinCtx, LOW); |
| |
| // wait for the pulse, |
| m_doWork = true; |
| m_InterruptCounter = 0; |
| mraa_gpio_dir(m_pinCtx, MRAA_GPIO_IN); |
| |
| // though do not wait over 25 [ms]. |
| int timer = 0; |
| while (m_doWork && timer++ < 5) { |
| // in 25 [ms], sound travels 25000 / 29 / 2 = 431 [cm], |
| // which is more than 400 [cm], the max distance measurable with this sensor. |
| usleep(5 * 1000); // 5 [ms] |
| } |
| |
| // calc diff |
| long diff = m_FallingTimeStamp.tv_usec - m_RisingTimeStamp.tv_usec; |
| diff += (m_FallingTimeStamp.tv_sec - m_RisingTimeStamp.tv_sec) * 1000000; |
| return timer >= 5 ? 0 : diff; |
| } |
| |
| void |
| GroveUltraSonic::signalISR(void *ctx) { |
| upm::GroveUltraSonic *This = (upm::GroveUltraSonic *)ctx; |
| This->ackEdgeDetected(); |
| } |
| |
| void |
| GroveUltraSonic::ackEdgeDetected () { |
| if (++m_InterruptCounter % 2 == 0) { |
| gettimeofday(&m_FallingTimeStamp, NULL); |
| m_doWork = false; |
| } else { |
| gettimeofday(&m_RisingTimeStamp, NULL); |
| } |
| } |