| /* |
| * 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. |
| */ |
| #pragma once |
| |
| #include <string> |
| #include <mraa/aio.h> |
| #include <mraa/gpio.h> |
| #include <sys/time.h> |
| |
| #define HIGH 1 |
| #define LOW 0 |
| |
| namespace upm { |
| |
| /** |
| * @brief Grove ultrasonic sensor library |
| * @defgroup groveultrasonic libupm-groveultrasonic |
| * @ingroup grove gpio sound |
| */ |
| |
| /** |
| * @library groveultrasonic |
| * @sensor groveultrasonic |
| * @comname Grove Ultrasonic Ranger |
| * @type sound |
| * @man seeed |
| * @con gpio |
| * |
| * @brief API for Grove Ultrasonic Ranger |
| * |
| * This Grove Ultrasonic sensor is a non-contact distance measurement module |
| * which is compatible with the Grove system. It is designed for easy modular |
| * project usage with industrial performance. Detection ranges from 3 cm (1.2") |
| * to 4 m (13'1.5") and works best when the object is within a 30 degree angle |
| * relative to the sensor. |
| * |
| * @image html groveultrasonic.jpg |
| * @snippet groveultrasonic.cxx Interesting |
| */ |
| class GroveUltraSonic { |
| public: |
| /** |
| * Instantiates a GroveUltraSonic object |
| * |
| * @param pin pin for triggering the sensor for distance and for receiving pulse response |
| */ |
| GroveUltraSonic (uint8_t pin); |
| |
| /** |
| * GroveUltraSonic object destructor. |
| */ |
| ~GroveUltraSonic (); |
| |
| /** |
| * Returns the echo's pulse width from the sensor in microseconds. |
| * Divide by 58 to convert distance to centimetres. |
| * Divide by 148 to convert distance to inches. |
| */ |
| int getDistance (); |
| |
| /** |
| * Return name of the component |
| */ |
| std::string name() |
| { |
| return m_name; |
| } |
| |
| /** |
| * Returns true while the sensor is busy waiting for the echo pulse |
| */ |
| bool working() |
| { |
| return m_doWork; |
| } |
| |
| private: |
| bool m_doWork; /* Flag to control blocking function while waiting for falling edge interrupt */ |
| mraa_gpio_context m_pinCtx; |
| uint8_t m_InterruptCounter; |
| struct timeval m_RisingTimeStamp; |
| struct timeval m_FallingTimeStamp; |
| std::string m_name; |
| |
| /** |
| * ISR for the pulse signal |
| */ |
| static void signalISR(void *ctx); |
| |
| /** |
| * On each interrupt this function will detect if the interrupt |
| * was falling edge or rising. |
| * Should be called from the interrupt handler. |
| */ |
| void ackEdgeDetected (); |
| }; |
| |
| } |