add_executable (nrf_transmitter nrf_transmitter.cxx)
add_executable (nrf_receiver nrf_receiver.cxx)
add_executable (es08a es08a.cxx)
+add_executable (son-hcsr04 hcsr04.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
include_directories (${PROJECT_SOURCE_DIR}/src/4digitdisplay)
include_directories (${PROJECT_SOURCE_DIR}/src/nrf24l01)
include_directories (${PROJECT_SOURCE_DIR}/src/servo)
+include_directories (${PROJECT_SOURCE_DIR}/src/hcsr04)
target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (nrf_transmitter nrf24l01 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (nrf_receiver nrf24l01 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (es08a servo ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (son-hcsr04 hcsr04 ${CMAKE_THREAD_LIBS_INIT})
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "hcsr04.h"
+#include <signal.h>
+#include <stdlib.h>
+#include <sys/time.h>
+
+upm::HCSR04 *sonar = NULL;
+
+void
+sig_handler(int signo)
+{
+ printf("got signal\n");
+ if (signo == SIGINT) {
+ printf("exiting application\n");
+ sonar->m_doWork = 1;
+ }
+}
+
+void
+interrupt (void) {
+ sonar->ackEdgeDetected ();
+}
+
+int
+main(int argc, char **argv)
+{
+ sonar = new upm::HCSR04(5, 7, &interrupt);
+ signal(SIGINT, sig_handler);
+
+ printf ("width = %d\n", sonar->getDistance());
+ std::cout << "exiting application" << std::endl;
+
+ delete sonar;
+
+ return 0;
+}
add_subdirectory (4digitdisplay)
add_subdirectory (nrf24l01)
add_subdirectory (servo)
+add_subdirectory (hcsr04)
--- /dev/null
+set (libname "hcsr04")
+add_library (hcsr04 SHARED hcsr04.cxx)
+include_directories (${MAA_INCLUDE_DIR})
+target_link_libraries (hcsr04 ${MAA_LIBRARIES})
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 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.
+ */
+
+#include <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+#include <functional>
+
+#include "hcsr04.h"
+
+using namespace upm;
+
+HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void)) {
+ maa_result_t error = MAA_SUCCESS;
+ m_name = "HCSR04";
+
+ m_pwmTriggerCtx = maa_pwm_init (triggerPin);
+ if (m_pwmTriggerCtx == NULL) {
+ std::cout << "PWM context is NULL" << std::endl;
+ exit (1);
+ }
+
+ maa_init();
+ m_echoPinCtx = maa_gpio_init(echoPin);
+ if (m_echoPinCtx == NULL) {
+ fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", echoPin);
+ exit (1);
+ }
+
+ maa_gpio_dir(m_echoPinCtx, MAA_GPIO_IN);
+ gpio_edge_t edge = MAA_GPIO_EDGE_BOTH;
+ maa_gpio_isr (m_echoPinCtx, edge, fptr);
+}
+
+HCSR04::~HCSR04 () {
+ maa_result_t error = MAA_SUCCESS;
+
+ maa_pwm_close (m_pwmTriggerCtx);
+ error = maa_gpio_close (m_echoPinCtx);
+ if (error != MAA_SUCCESS) {
+ maa_result_print (error);
+ }
+}
+
+int
+HCSR04::getDistance () {
+ maa_pwm_enable (m_pwmTriggerCtx, 1);
+ maa_pwm_period_us (m_pwmTriggerCtx, MAX_PERIOD);
+ maa_pwm_pulsewidth_us (m_pwmTriggerCtx, TRIGGER_PULSE);
+ maa_pwm_enable (m_pwmTriggerCtx, 0);
+
+ m_doWork = 0;
+ m_InterruptCounter = 0;
+ while (!m_doWork) {
+ sleep (1);
+ }
+
+ return m_FallingTimeStamp - m_RisingTimeStamp;
+}
+
+void
+HCSR04::ackEdgeDetected () {
+ struct timeval timer;
+ gettimeofday(&timer, NULL);
+
+ ++m_InterruptCounter;
+ if (!(m_InterruptCounter % 2)) {
+ m_FallingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
+ m_doWork = 1;
+ } else {
+ m_RisingTimeStamp = 1000000 * timer.tv_sec + timer.tv_usec;
+ }
+}
--- /dev/null
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 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 <maa/aio.h>
+#include <maa/gpio.h>
+#include <maa/pwm.h>
+#include <sys/time.h>
+
+#define HIGH 1
+#define LOW 0
+
+#define MAX_PERIOD 7968
+#define TRIGGER_PULSE 10
+
+namespace upm {
+
+class HCSR04 {
+ public:
+ HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void));
+ ~HCSR04 ();
+ int getDistance ();
+ void ackEdgeDetected ();
+
+ uint8_t m_doWork;
+
+ std::string name()
+ {
+ return m_name;
+ }
+
+ private:
+ maa_pwm_context m_pwmTriggerCtx;
+ maa_gpio_context m_echoPinCtx;
+
+ uint8_t m_waitEcho;
+ long m_RisingTimeStamp;
+ long m_FallingTimeStamp;
+ uint8_t m_InterruptCounter;
+
+ std::string m_name;
+};
+
+}
--- /dev/null
+%module jsupm_hcsr04
+
+%{
+ #include "hcsr04.h"
+%}
+
+%include "hcsr04.h"
--- /dev/null
+%module pyupm_hcsr04
+
+%feature("autodoc", "3");
+
+%include "hcsr04.h"
+%{
+ #include "hcsr04.h"
+%}
projects / contrib / upm.git / commitdiff