108 lines
2.9 KiB
C
108 lines
2.9 KiB
C
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/*
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* Author: Jun Kato <i@junkato.jp>
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* Copyright (c) 2015 Jun Kato.
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*
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* Thanks to Seeed Studio for a working arduino sketch
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <mraa/aio.h>
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#include <mraa/gpio.h>
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#include <sys/time.h>
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#define HIGH 1
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#define LOW 0
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#define MAX_PERIOD 7968
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#define TRIGGER_PULSE 10
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namespace upm {
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/**
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* @brief Grove ultrasonic sensor library
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* @defgroup groveultrasonic libupm-groveultrasonic
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*/
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/**
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* @brief C++ API for Grove ultrasonic ranging component
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*
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* This file defines the GroveUltraSonic C++ interface for libgroveultrasonic
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*
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* @ingroup groveultrasonic gpio
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*/
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class GroveUltraSonic {
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public:
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/**
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* Instanciates a GroveUltraSonic object
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*
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* @param pin pin for triggering the sensor for distance and for receiving pulse response
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*/
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GroveUltraSonic (uint8_t pin);
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/**
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* GroveUltraSonic object destructor.
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*/
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~GroveUltraSonic ();
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/**
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* Get the distance from the sensor.
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*/
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int getDistance ();
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/**
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* Return name of the component
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*/
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std::string name()
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{
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return m_name;
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}
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/**
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* ISR for the pulse signal
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*/
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static void signalISR(void *ctx);
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/**
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* Flag to controll blocking function while waiting for falling edge interrupt
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*/
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uint8_t m_doWork;
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private:
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mraa_gpio_context m_pinCtx;
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uint8_t m_InterruptCounter;
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struct timeval m_RisingTimeStamp;
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struct timeval m_FallingTimeStamp;
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std::string m_name;
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/**
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* On each interrupt this function will detect if the interrupt
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* was falling edge or rising.
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* Should be called from the interrupt handler.
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*/
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void ackEdgeDetected ();
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};
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}
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