src/resource/resource_ultrasonic_sensor.c

   1 /*
   2  * Copyright (c) 2017 Samsung Electronics Co., Ltd All Rights Reserved
   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 Apache License, Version 2.0 (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://www.apache.org/licenses/LICENSE-2.0
  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(int echo_pin_num, int trig_pin_num)
  32 {
  33         if (!resource_get_info(echo_pin_num)->opened) return;
  34         if (!resource_get_info(trig_pin_num)->opened) return;
  35
  36         _I("Ultrasonic sensor is finishing...");
  37
  38         peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
  39         peripheral_gpio_close(resource_get_info(trig_pin_num)->sensor_h);
  40
  41         resource_get_info(echo_pin_num)->opened = 0;
  42         resource_get_info(trig_pin_num)->opened = 0;
  43 }
  44
  45 static void _resource_read_ultrasonic_sensor_cb(gpio_isr_cb_s *data, void *user_data)
  46 {
  47         float dist = 0;
  48         static unsigned long long timestamp = 0;
  49         resource_read_s *resource_read_info = user_data;
  50
  51         ret_if(!resource_read_info);
  52         ret_if(!resource_read_info->cb);
  53
  54         if (timestamp > 0 && data->value == 0) {
  55                 dist = data->timestamp - timestamp;
  56                 dist = (dist * 34300) / 2000000;
  57                 _I("Measured Distance : %0.2fcm\n", dist);
  58
  59                 resource_read_info->cb(dist, resource_read_info->data);
  60                 peripheral_gpio_unregister_cb(resource_get_info(resource_read_info->pin_num)->sensor_h);
  61                 free(resource_read_info);
  62         }
  63
  64         timestamp = data->timestamp;
  65 }
  66
  67 int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, resource_read_cb cb, void *data)
  68 {
  69         int ret = 0;
  70         resource_read_s *resource_read_info = NULL;
  71
  72         resource_read_info = calloc(1, sizeof(resource_read_s));
  73         retv_if(!resource_read_info, -1);
  74         resource_read_info->cb = cb;
  75         resource_read_info->data = data;
  76         resource_read_info->pin_num = echo_pin_num;
  77
  78         if (!resource_get_info(trig_pin_num)->opened) {
  79                 _I("Ultrasonic sensor's trig is initializing...");
  80
  81                 ret = peripheral_gpio_open(trig_pin_num, &resource_get_info(trig_pin_num)->sensor_h);
  82                 retv_if(!resource_get_info(trig_pin_num)->sensor_h, -1);
  83
  84                 ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT);
  85                 retv_if(ret != 0, -1);
  86
  87                 resource_get_info(trig_pin_num)->opened = 1;
  88         }
  89
  90         if (!resource_get_info(echo_pin_num)->opened) {
  91                 _I("Ultrasonic sensor's echo is initializing...");
  92
  93                 ret = peripheral_gpio_open(echo_pin_num, &resource_get_info(echo_pin_num)->sensor_h);
  94                 retv_if(!resource_get_info(echo_pin_num)->sensor_h, -1);
  95
  96                 ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
  97                 retv_if(ret != 0, -1);
  98
  99                 ret = peripheral_gpio_set_edge_mode(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
 100                 retv_if(ret != 0, -1);
 101
 102                 resource_get_info(echo_pin_num)->opened = 1;
 103         }
 104
 105         if (resource_get_info(echo_pin_num)->sensor_h) {
 106                 ret = peripheral_gpio_register_cb(resource_get_info(echo_pin_num)->sensor_h, _resource_read_ultrasonic_sensor_cb, resource_read_info);
 107                 retv_if(ret != 0, -1);
 108         }
 109
 110         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 111         retv_if(ret < 0, -1);
 112
 113         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
 114         retv_if(ret < 0, -1);
 115
 116         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 117         retv_if(ret < 0, -1);
 118
 119         return 0;
 120 }