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/*
* 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 ();
};
}
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