summaryrefslogtreecommitdiff
path: root/peripheral/libupm/src/urm37/urm37.cxx
diff options
context:
space:
mode:
Diffstat (limited to 'peripheral/libupm/src/urm37/urm37.cxx')
-rw-r--r--peripheral/libupm/src/urm37/urm37.cxx318
1 files changed, 0 insertions, 318 deletions
diff --git a/peripheral/libupm/src/urm37/urm37.cxx b/peripheral/libupm/src/urm37/urm37.cxx
deleted file mode 100644
index 85305d3..0000000
--- a/peripheral/libupm/src/urm37/urm37.cxx
+++ /dev/null
@@ -1,318 +0,0 @@
-/*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 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 "urm37.h"
-
-using namespace upm;
-using namespace std;
-
-static const int waitTimeout = 1000;
-static const int maxRetries = 10;
-
-URM37::URM37(int aPin, int resetPin, int triggerPin, float aref) :
- m_uart(0), m_aio(new mraa::Aio(aPin)), m_gpioReset(resetPin),
- m_gpioTrigger(new mraa::Gpio(triggerPin))
-{
- m_analogMode = true;
-
- m_aRes = (1 << m_aio->getBit());
- m_aref = aref;
-
- m_gpioTrigger->dir(mraa::DIR_OUT);
-
- // setup trigger for mmapped access, not a big deal if this fails
- m_gpioTrigger->useMmap(true);
-
- // trigger high
- m_gpioTrigger->write(1);
-
- init();
-}
-
-URM37::URM37(int uart, int resetPin) :
- m_uart(new mraa::Uart(uart)), m_aio(0), m_gpioReset(resetPin),
- m_gpioTrigger(0)
-{
- m_analogMode = false;
-
- m_aRes = 0;
- m_aref = 0;
-
- // 9600 baud is the only support baud rate...
- if (m_uart->setBaudRate(9600))
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": setBaudRate(9600) failed");
- return;
- }
-
- init();
-}
-
-URM37::~URM37()
-{
- if (m_uart)
- delete m_uart;
- if (m_aio)
- delete m_aio;
- if(m_gpioTrigger)
- delete m_gpioTrigger;
-}
-
-void URM37::init()
-{
- m_gpioReset.dir(mraa::DIR_OUT);
-
- // reset the device
- reset();
-}
-
-void URM37::reset()
-{
- // toggle reset
- m_gpioReset.write(0);
- usleep(100);
- m_gpioReset.write(1);
- // wait for reset to complete
- sleep(3);
-}
-
-bool URM37::dataAvailable(unsigned int millis)
-{
- return m_uart->dataAvailable(millis);
-}
-
-std::string URM37::readDataStr(int len)
-{
- return m_uart->readStr(len);
-}
-
-int URM37::writeDataStr(std::string data)
-{
- m_uart->flush();
- return m_uart->writeStr(data);
-}
-
-float URM37::getDistance(int degrees)
-{
- // analog mode
- if (m_analogMode)
- {
- m_gpioTrigger->write(0);
- int val = m_aio->read();
- m_gpioTrigger->write(1);
-
- float mVolts = (float(val) * (m_aref / m_aRes)) * 1000.0;
-
- // 6.8mV per CM
- return (mVolts / 6.8);
- }
-
- // UART mode
- // query distance cmd sequence
- uint8_t deg = (uint8_t)(degrees / 6);
- if (deg > 46)
- throw std::out_of_range(string(__FUNCTION__) +
- ": degrees out of range, must be 0-270");
-
- string cmd;
- uint8_t cksum = 0x22 + deg + 0x00;
- cmd.push_back(0x22);
- cmd.push_back(deg);
- cmd.push_back(0x00);
- cmd.push_back(cksum);
-
- string resp = sendCommand(cmd);
-
- if (resp.empty())
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": sendCommand() failed");
- return 0.0;
- }
-
- uint8_t h = (uint8_t)resp[1];
- uint8_t l = (uint8_t)resp[2];
-
- float distance = float((h << 8) | l);
-
- return (distance);
-}
-
-float URM37::getTemperature()
-{
- if (m_analogMode)
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": Temperature measurement not available in analog mode");
-
- return 0.0;
- }
-
- // query temperature cmd sequence
- string cmd;
- cmd.push_back(0x11);
- cmd.push_back(0x00);
- cmd.push_back(0x00);
- cmd.push_back(0x11);
-
- string resp = sendCommand(cmd);
-
- if (resp.empty())
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": sendCommand() failed");
- return 0.0;
- }
-
- uint8_t h = (uint8_t)resp[1];
- uint8_t l = (uint8_t)resp[2];
-
- float temp;
- temp = float((h & 0x0f) * 256 + l) / 10.0;
- if (h & 0xf0)
- temp *= -1;
-
- return (temp);
-}
-
-uint8_t URM37::readEEPROM(uint8_t addr)
-{
- if (m_analogMode)
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": readEEPROM() is not possible in analog mode");
-
- return 0;
- }
-
- if (addr > 0x04)
- throw std::out_of_range(string(__FUNCTION__) +
- ": addr must be between 0x00-0x04");
-
- string cmd;
- uint8_t cksum = 0x33 + addr + 0x00;
- cmd.push_back(0x33);
- cmd.push_back(addr);
- cmd.push_back(0x00);
- cmd.push_back(cksum);
-
- string resp = sendCommand(cmd);
-
- if (resp.empty())
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": sendCommand() failed");
- return 0;
- }
-
- return resp[2];
-}
-
-void URM37::writeEEPROM(uint8_t addr, uint8_t value)
-{
- if (m_analogMode)
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": writeEEPROM() is not possible in analog mode");
-
- return;
- }
-
- if (addr > 0x04)
- throw std::out_of_range(string(__FUNCTION__) +
- ": addr must be between 0x00-0x04");
-
- string cmd;
- uint8_t cksum = 0x44 + addr + value;
- cmd.push_back(0x44);
- cmd.push_back(addr);
- cmd.push_back(value);
- cmd.push_back(cksum);
-
- string resp = sendCommand(cmd);
-
- if (resp.empty())
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": sendCommand() failed");
- return;
- }
-
- return;
-}
-
-string URM37::sendCommand(string cmd)
-{
- if (m_analogMode)
- {
- throw std::runtime_error(string(__FUNCTION__) +
- ": can only be executed in UART mode");
-
- return "";
- }
-
- int tries = 0;
- string resp;
-
- while (tries++ < maxRetries)
- {
- writeDataStr(cmd);
- if (!dataAvailable(waitTimeout))
- {
- cerr << __FUNCTION__ << ": Timed out waiting for response" << endl;
- continue;
- }
-
- resp = readDataStr(8);
-
- // verify size
- if (resp.size() != 4)
- {
- cerr << __FUNCTION__ << ": Invalid returned packet size" << endl;
- continue;
- }
- else
- {
- // we have data, verify cksum, return the response if it's
- // good, retry otherwise
- uint8_t cksum = (uint8_t)(resp[0] + resp[1] + resp[2]);
-
- if ((uint8_t)resp[3] != cksum)
- {
- cerr << __FUNCTION__ << ": cksum failure" << endl;
- continue;
- }
-
- // else, we are good to go
- return resp;
- }
- }
-
- // :(
- return "";
-}
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-02 04:36:36 +0000