src/resource/resource_ultrasonic_sensor.c

   1 /*
   2  * Copyright (c) 2017 Samsung Electronics Co., Ltd.
   3  *
   4  * Contact: Jin Yoon <jinny.yoon@samsung.com>
   5  *          Geunsun Lee <gs86.lee@samsung.com>
   6  *          Eunyoung Lee <ey928.lee@samsung.com>
   7  *          Junkyu Han <junkyu.han@samsung.com>
   8  *
   9  * Licensed under the Flora License, Version 1.1 (the License);
  10  * you may not use this file except in compliance with the License.
  11  * You may obtain a copy of the License at
  12  *
  13  * http://floralicense.org/license/
  14  *
  15  * Unless required by applicable law or agreed to in writing, software
  16  * distributed under the License is distributed on an AS IS BASIS,
  17  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  18  * See the License for the specific language governing permissions and
  19  * limitations under the License.
  20  */
  21
  22 #include <stdlib.h>
  23 #include <unistd.h>
  24 #include <peripheral_io.h>
  25 #include <sys/time.h>
  26 #include <gio/gio.h>
  27
  28 #include "log.h"
  29 #include "resource_internal.h"
  30
  31 void resource_close_ultrasonic_sensor_trig(int trig_pin_num)
  32 {
  33         if (!resource_get_info(trig_pin_num)->opened) return;
  34
  35         _I("Ultrasonic sensor's trig is finishing...");
  36
  37         peripheral_gpio_close(resource_get_info(trig_pin_num)->sensor_h);
  38         resource_get_info(trig_pin_num)->opened = 0;
  39 }
  40
  41 void resource_close_ultrasonic_sensor_echo(int echo_pin_num)
  42 {
  43         if (!resource_get_info(echo_pin_num)->opened) return;
  44
  45         _I("Ultrasonic sensor's echo is finishing...");
  46
  47         peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
  48         resource_get_info(echo_pin_num)->opened = 0;
  49 }
  50
  51 static unsigned long long _get_timestamp(void)
  52 {
  53         struct timespec t;
  54         clock_gettime(CLOCK_REALTIME, &t);
  55         return ((unsigned long long)(t.tv_sec)*1000000000LL + t.tv_nsec) / 1000;
  56 }
  57
  58 static void _resource_read_ultrasonic_sensor_cb(peripheral_gpio_h gpio, peripheral_error_e error, void *user_data)
  59 {
  60         float dist = 0;
  61         uint32_t value;
  62         static unsigned long long prev = 0;
  63         unsigned long long now = _get_timestamp();
  64         resource_read_s *resource_read_info = user_data;
  65
  66         ret_if(!resource_read_info);
  67         ret_if(!resource_read_info->cb);
  68
  69         peripheral_gpio_read(gpio, &value);
  70
  71         if (prev > 0 && value == 0) {
  72                 dist = now - prev;
  73                 dist = (dist * 34300) / 2000000;
  74                 _I("Measured Distance : %0.2fcm\n", dist);
  75
  76                 resource_read_info->cb(dist, resource_read_info->data);
  77                 peripheral_gpio_unset_interrupted_cb(resource_get_info(resource_read_info->pin_num)->sensor_h);
  78                 free(resource_read_info);
  79         }
  80
  81         prev = now;
  82 }
  83
  84 int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, resource_read_cb cb, void *data)
  85 {
  86         int ret = 0;
  87         resource_read_s *resource_read_info = NULL;
  88
  89         resource_read_info = calloc(1, sizeof(resource_read_s));
  90         retv_if(!resource_read_info, -1);
  91         resource_read_info->cb = cb;
  92         resource_read_info->data = data;
  93         resource_read_info->pin_num = echo_pin_num;
  94
  95         if (!resource_get_info(trig_pin_num)->opened) {
  96                 _I("Ultrasonic sensor's trig is initializing...");
  97
  98                 ret = peripheral_gpio_open(trig_pin_num, &resource_get_info(trig_pin_num)->sensor_h);
  99                 retv_if(!resource_get_info(trig_pin_num)->sensor_h, -1);
 100
 101                 ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT_INITIALLY_LOW);
 102                 retv_if(ret != 0, -1);
 103
 104                 resource_get_info(trig_pin_num)->opened = 1;
 105                 resource_get_info(trig_pin_num)->close = resource_close_ultrasonic_sensor_trig;
 106         }
 107
 108         if (!resource_get_info(echo_pin_num)->opened) {
 109                 _I("Ultrasonic sensor's echo is initializing...");
 110
 111                 ret = peripheral_gpio_open(echo_pin_num, &resource_get_info(echo_pin_num)->sensor_h);
 112                 retv_if(!resource_get_info(echo_pin_num)->sensor_h, -1);
 113
 114                 ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
 115                 retv_if(ret != 0, -1);
 116
 117                 ret = peripheral_gpio_set_edge_mode(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
 118                 retv_if(ret != 0, -1);
 119
 120                 resource_get_info(echo_pin_num)->opened = 1;
 121                 resource_get_info(echo_pin_num)->close = resource_close_ultrasonic_sensor_echo;
 122         }
 123
 124         if (resource_get_info(echo_pin_num)->sensor_h) {
 125                 ret = peripheral_gpio_set_interrupted_cb(resource_get_info(echo_pin_num)->sensor_h, _resource_read_ultrasonic_sensor_cb, resource_read_info);
 126                 retv_if(ret != 0, -1);
 127         }
 128
 129         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 130         retv_if(ret < 0, -1);
 131
 132         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
 133         retv_if(ret < 0, -1);
 134
 135         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 136         retv_if(ret < 0, -1);
 137
 138         return 0;
 139 }