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
  27 #include "log.h"
  28 #include "resource_internal.h"
  29
  30 void resource_close_ultrasonic_sensor(int echo_pin_num, int trig_pin_num)
  31 {
  32         ret_if(!resource_get_info(echo_pin_num)->opened);
  33         ret_if(!resource_get_info(trig_pin_num)->opened);
  34
  35         _I("Ultrasonic sensor is finishing...");
  36
  37         peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
  38         peripheral_gpio_close(resource_get_info(trig_pin_num)->sensor_h);
  39
  40         resource_get_info(echo_pin_num)->opened = 0;
  41         resource_get_info(trig_pin_num)->opened = 0;
  42 }
  43
  44 static int _get_echo_value(int echo_pin_num)
  45 {
  46         int ret = 0;
  47         int value = 0;
  48
  49         ret = peripheral_gpio_read(resource_get_info(echo_pin_num)->sensor_h, &value);
  50         retv_if(ret < 0, -1);
  51
  52         return value;
  53 }
  54
  55 int resource_read_ultrasonic_sensor(int echo_pin_num, int trig_pin_num, double *out_value)
  56 {
  57         int ret = 0;
  58         double duration = 0.0;
  59         struct timeval start_time, end_time, temp_start_time, temp_end_time;
  60
  61         if (!resource_get_info(echo_pin_num)->opened) {
  62                 _I("Ultrasonic sensor is initializing...");
  63
  64                 ret = peripheral_gpio_open(echo_pin_num, &resource_get_info(echo_pin_num)->sensor_h);
  65                 retv_if(!resource_get_info(echo_pin_num)->sensor_h, -1);
  66
  67                 ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
  68                 retv_if(ret != 0, -1);
  69
  70                 resource_get_info(echo_pin_num)->opened = 1;
  71         }
  72
  73         if (!resource_get_info(trig_pin_num)->opened) {
  74                 _I("Ultrasonic sensor is initializing...");
  75
  76                 ret = peripheral_gpio_open(trig_pin_num, &resource_get_info(trig_pin_num)->sensor_h);
  77                 retv_if(!resource_get_info(trig_pin_num)->sensor_h, -1);
  78
  79                 ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
  80                 retv_if(ret != 0, -1);
  81
  82                 resource_get_info(trig_pin_num)->opened = 1;
  83         }
  84
  85         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
  86         retv_if(ret < 0, -1);
  87
  88         sleep(1);
  89
  90         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
  91         retv_if(ret < 0, -1);
  92
  93         usleep(10);
  94
  95         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
  96         retv_if(ret < 0, -1);
  97
  98         _D("Count the distance");
  99         gettimeofday(&temp_start_time, NULL);
 100
 101         while (_get_echo_value(echo_pin_num) == 0) {
 102                 gettimeofday(&temp_end_time, NULL);
 103                 duration = (double)temp_end_time.tv_sec + (double)(temp_end_time.tv_usec / 1000000.0)
 104                         - (double)temp_start_time.tv_sec - (double)(temp_start_time.tv_usec / 1000000.0);
 105                 if (duration > 1.0f) {
 106                         _E("Cannot get the echo value.");
 107                         return -1;
 108                 }
 109         }
 110         gettimeofday(&start_time, NULL);
 111
 112         _D("After checking #1");
 113
 114         while (_get_echo_value(echo_pin_num) == 1);
 115         gettimeofday(&end_time, NULL);
 116
 117         _D("After checking #2");
 118
 119         duration = (double)end_time.tv_sec + (double)(end_time.tv_usec / 1000000.0)
 120                 - (double)start_time.tv_sec - (double)(start_time.tv_usec / 1000000.0);
 121         *out_value = duration / 2 * 340.0;
 122
 123         _I("Ultrasonic Sensor Value : %f", *out_value);
 124
 125         return 0;
 126 }