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 static resource_read_s *resource_read_info = NULL;
  32 static unsigned long long triggered_time = 0;
  33
  34 void resource_close_ultrasonic_sensor_trig(int trig_pin_num)
  35 {
  36         if (!resource_get_info(trig_pin_num)->opened) return;
  37
  38         _I("Ultrasonic sensor's trig is finishing...");
  39
  40         peripheral_gpio_close(resource_get_info(trig_pin_num)->sensor_h);
  41         resource_get_info(trig_pin_num)->opened = 0;
  42 }
  43
  44 void resource_close_ultrasonic_sensor_echo(int echo_pin_num)
  45 {
  46         if (!resource_get_info(echo_pin_num)->opened) return;
  47
  48         _I("Ultrasonic sensor's echo is finishing...");
  49
  50         peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
  51         resource_get_info(echo_pin_num)->opened = 0;
  52         free(resource_read_info);
  53         resource_read_info = NULL;
  54 }
  55
  56 static unsigned long long _get_timestamp(void)
  57 {
  58         struct timespec t;
  59         clock_gettime(CLOCK_REALTIME, &t);
  60         return ((unsigned long long)(t.tv_sec)*1000000000LL + t.tv_nsec) / 1000;
  61 }
  62
  63 static void _resource_read_ultrasonic_sensor_cb(peripheral_gpio_h gpio, peripheral_error_e error, void *user_data)
  64 {
  65         float dist = 0;
  66         uint32_t value;
  67         unsigned long long returned_time = 0;
  68         resource_read_s *resource_read_info = user_data;
  69
  70         ret_if(!resource_read_info);
  71         ret_if(!resource_read_info->cb);
  72
  73         peripheral_gpio_read(gpio, &value);
  74
  75         if (value == 1) {
  76                 triggered_time = _get_timestamp();
  77         } else if (value == 0) {
  78                 returned_time = _get_timestamp();
  79         }
  80
  81         if (triggered_time > 0 && value == 0) {
  82                 dist = returned_time - triggered_time;
  83                 if (dist < 150 || dist > 25000) {
  84                         dist = -1;
  85                 } else {
  86                         dist = (dist * 34300) / 2000000;
  87                 }
  88
  89                 resource_read_info->cb(dist, resource_read_info->data);
  90         }
  91 }
  92
  93 int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, resource_read_cb cb, void *data)
  94 {
  95         int ret = 0;
  96
  97         triggered_time = 0;
  98
  99         if (resource_read_info == NULL) {
 100                 resource_read_info = calloc(1, sizeof(resource_read_s));
 101                 retv_if(!resource_read_info, -1);
 102         } else {
 103                 peripheral_gpio_unset_interrupted_cb(resource_get_info(resource_read_info->pin_num)->sensor_h);
 104         }
 105         resource_read_info->cb = cb;
 106         resource_read_info->data = data;
 107         resource_read_info->pin_num = echo_pin_num;
 108
 109         if (!resource_get_info(trig_pin_num)->opened) {
 110                 _I("Ultrasonic sensor's trig is initializing...");
 111
 112                 ret = peripheral_gpio_open(trig_pin_num, &resource_get_info(trig_pin_num)->sensor_h);
 113                 retv_if(!resource_get_info(trig_pin_num)->sensor_h, -1);
 114
 115                 ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT_INITIALLY_LOW);
 116                 retv_if(ret != 0, -1);
 117
 118                 resource_get_info(trig_pin_num)->opened = 1;
 119                 resource_get_info(trig_pin_num)->close = resource_close_ultrasonic_sensor_trig;
 120         }
 121
 122         if (!resource_get_info(echo_pin_num)->opened) {
 123                 _I("Ultrasonic sensor's echo is initializing...");
 124
 125                 ret = peripheral_gpio_open(echo_pin_num, &resource_get_info(echo_pin_num)->sensor_h);
 126                 retv_if(!resource_get_info(echo_pin_num)->sensor_h, -1);
 127
 128                 ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
 129                 retv_if(ret != 0, -1);
 130
 131                 ret = peripheral_gpio_set_edge_mode(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
 132                 retv_if(ret != 0, -1);
 133
 134                 resource_get_info(echo_pin_num)->opened = 1;
 135                 resource_get_info(echo_pin_num)->close = resource_close_ultrasonic_sensor_echo;
 136         }
 137
 138         if (resource_get_info(echo_pin_num)->sensor_h) {
 139                 ret = peripheral_gpio_set_interrupted_cb(resource_get_info(echo_pin_num)->sensor_h, _resource_read_ultrasonic_sensor_cb, resource_read_info);
 140                 retv_if(ret != 0, -1);
 141         }
 142
 143         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 144         retv_if(ret < 0, -1);
 145
 146         usleep(20000);
 147
 148         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
 149         retv_if(ret < 0, -1);
 150
 151         usleep(20000);
 152
 153         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 154         retv_if(ret < 0, -1);
 155
 156         return 0;
 157 }