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Diffstat (limited to 'peripheral/libupm/src/urm37/urm37.h')
| -rw-r--r-- | peripheral/libupm/src/urm37/urm37.h | 205 |
1 files changed, 0 insertions, 205 deletions
diff --git a/peripheral/libupm/src/urm37/urm37.h b/peripheral/libupm/src/urm37/urm37.h deleted file mode 100644 index 21554b9..0000000 --- a/peripheral/libupm/src/urm37/urm37.h +++ /dev/null @@ -1,205 +0,0 @@ -/* - * Author: Jon Trulson <jtrulson@ics.com> - * Copyright (c) 2015 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. - */ -#pragma once - -#include <string> -#include <iostream> - -#include <stdlib.h> -#include <unistd.h> -#include <string.h> - -#include <mraa/common.hpp> -#include <mraa/uart.hpp> -#include <mraa/aio.hpp> -#include <mraa/gpio.hpp> - -#define URM37_DEFAULT_UART 0 - -namespace upm { - /** - * @brief DFRobot URM37 Ultrasonic Ranger - * @defgroup urm37 libupm-urm37 - * @ingroup dfrobot uart gpio ainput sound - */ - - /** - * @library urm37 - * @sensor urm37 - * @comname DFRobot URM37 Ultrasonic Ranger - * @type sound - * @man dfrobot - * @con uart ainput gpio - * @web http://www.dfrobot.com/index.php?route=product/product&product_id=53 - * - * @brief API for the DFRobot URM37 Ultrasonic Ranger - * - * The driver was tested with the DFRobot URM37 Ultrasonic Ranger, - * V4. It has a range of between 5 and 500 centimeters (cm). It - * supports both analog distance measurement, and UART based - * temperature and distance measurements. This driver does not - * support PWM measurement mode. - * - * For UART operation, the only supported baud rate is 9600. In - * addition, you must ensure that the UART TX/RX pins are - * configured for TTL operation (the factory default) rather than - * RS232 operation, or permanent damage to your URM37 and/or MCU - * will result. On power up, the LED indicator will blink one - * long pulse, followed by one short pulse to indicate TTL - * operation. See the DFRobot wiki for more information: - * - * (https://www.dfrobot.com/wiki/index.php?title=URM37_V4.0_Ultrasonic_Sensor_%28SKU:SEN0001%29) - * - * @image html urm37.jpg - * An example using analog mode - * @snippet urm37.cxx Interesting - * An example using UART mode - * @snippet urm37-uart.cxx Interesting - */ - - class URM37 { - public: - - /** - * URM37 object constructor (Analog mode) - * - * @param aPin Analog pin to use - * @param resetPin GPIO pin to use for reset - * @param triggerPin GPIO pin to use for triggering a distance measurement - * @param aref The analog reference voltage, default 5.0 - */ - URM37(int aPin, int resetPin, int triggerPin, float aref=5.0); - - /** - * URM37 object constructor (UART mode) - * - * @param uart Default UART to use (0 or 1). - * @param resetPin GPIO pin to use for reset - */ - URM37(int uart, int resetPin); - - /** - * URM37 object destructor - */ - ~URM37(); - - /** - * Reset the device. This will take approximately 3 seconds to - * complete. - * - */ - void reset(); - - /** - * Get the distance measurement. A return value of 65535.0 - * in UART mode indicates an invalid measurement. - * - * @param degrees in UART mode, this specifies the degrees to turn - * an attached PWM servo connected to the MOTO output on the - * URM37. Default is 0. Valid values are 0-270. This option is - * ignored in analog mode. - * @return The measured distance in cm - */ - float getDistance(int degrees=0); - - /** - * Get the temperature measurement. This is only valid in UART mode. - * - * @return The measured temperature in degrees C - */ - float getTemperature(); - - /** - * In UART mode only, read a value from the EEPROM and return it. - * - * @param addr The address in the EEPROM to read. Valid values - * are between 0x00-0x04. - * @return The EEPROM value at addr - */ - uint8_t readEEPROM(uint8_t addr); - - /** - * In UART mode only, write a value into an address on the EEPROM. - * - * @param addr The address in the EEPROM to write. Valid values - * are between 0x00-0x04. - * @param value The value to write - * @return The EEPROM value at addr - */ - void writeEEPROM(uint8_t addr, uint8_t value); - - protected: - mraa::Uart *m_uart; - mraa::Aio *m_aio; - mraa::Gpio *m_gpioTrigger; - mraa::Gpio m_gpioReset; - - // initialize reset gpio and call reset - void init(); - - // send a serial command and return a 4 byte response (UART mode only) - std::string sendCommand(std::string cmd); - - private: - /** - * Checks to see if there is data aavailable for reading - * - * @param millis Number of milliseconds to wait; 0 means no waiting - * @return true if there is data available for reading - */ - bool dataAvailable(unsigned int millis); - - /** - * Reads any available data and returns it in a std::string. Note: - * the call blocks until data is available for reading. Use - * dataAvailable() to determine whether there is data available - * beforehand, to avoid blocking. - * - * @param len Maximum length of the data to be returned - * @return Number of bytes read - */ - std::string readDataStr(int len); - - /** - * Writes the std:string data to the device. If you are writing a - * command, be sure to terminate it with a carriage return (\r) - * - * @param data Buffer to write to the device - * @return Number of bytes written - */ - int writeDataStr(std::string data); - - // analog or UART mode - bool m_analogMode; - - // analog reference and resolution - float m_aref; - int m_aRes; - }; -} - - |