1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
|
/*
* 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.
*/
#pragma once
#include <string>
#include <mraa/gpio.h>
namespace upm {
/**
* @brief RPR220 IR Reflective Sensor library
* @defgroup rpr220 libupm-rpr220
* @ingroup seeed gpio light tsk hak
*/
/**
* @library rpr220
* @sensor rpr220
* @comname RPR220 IR Reflective Sensor
* @altname Grove IR Reflective Sensor
* @type light
* @man seeed
* @web http://www.seeedstudio.com/wiki/Grove_-_Infrared_Reflective_Sensor
* @con gpio
* @kit tsk hak
*
* @brief API for the RPR220-based Grove IR Reflective Sensor
*
* UPM module for the Grove IR reflective sensor. The sensitivity
* can be adjusted with the potentiometer on the sensor module. It
* has a range of approximately 15 mm, and a quick response time.
*
* It detects high-contrast dark areas on a light background.
*
* This module allows the user to determine the current status
* (black detected or not). Additionally, if desired, an interrupt
* service routine (ISR) can be installed that is called when
* black is detected. Either method can be used, depending on your
* use case.
*
* @image html rpr220.jpg
* @snippet rpr220.cxx Interesting
* @snippet rpr220-intr.cxx Interesting
*/
class RPR220 {
public:
/**
* RPR220 constructor
*
* @param pin Digital pin to use
*/
RPR220(int pin);
/**
* RPR220 destructor
*/
~RPR220();
/**
* Gets the status of the pin; true means black has been detected
*
* @return True if the sensor has detected black
*/
bool blackDetected();
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void installISR(jobject runnable);
#else
/**
* Installs an ISR to be called when
* black is detected
*
* @param fptr Pointer to a function to be called on interrupt
* @param arg Pointer to an object to be supplied as an
* argument to the ISR.
*/
void installISR(void (*isr)(void *), void *arg);
#endif
/**
* Uninstalls the previously installed ISR
*
*/
void uninstallISR();
private:
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void installISR(void (*isr)(void *), void *arg);
#endif
bool m_isrInstalled;
mraa_gpio_context m_gpio;
};
}
|
