--- /dev/null
+/*
+ * Copyright (c) 2019 SINO TECH Co., Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __RESOURCE_ULTRASONIC_JSN_SR04T_H__
+#define __RESOURCE_ULTRASONIC_JSN_SR04T_H__
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+/**
+ * @brief Reads the value of gpio connected ultrasonic sensor(JSN_SR04T).
+ * @param[in] trig_pin_num The number of the gpio pin connected to the trig of the ultrasonic sensor
+ * @param[in] echo_pin_num The number of the gpio pin connected to the echo of the ultrasonic sensor
+ * @param[in] cb A callback function to be invoked when the gpio interrupt is triggered
+ * @param[in] data The data to be passed to the callback function
+ * @return 0 on success, otherwise a negative error value
+ * @see If the gpio pin is not open, creates gpio handle before reading the value of gpio.
+ */
+extern int resource_read_ultrasonic_jsn_sr04t(int trig_pin_num, int echo_pin_num, resource_read_cb cb, void *data);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* __RESOURCE_ULTRASONIC_JSN_SR04T_H__ */
--- /dev/null
+/*
+ * Copyright (c) 2019 SINO TECH Co., Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __RESOURCE_ULTRASONIC_JSN_SR04T_INTERNAL_H__
+#define __RESOURCE_ULTRASONIC_JSN_SR04T_INTERNAL_H__
+
+/**
+ * @brief Releases the gpio handle and changes the gpio pin state to the close(0).
+ * @param[in] trig_pin_num The number of the gpio pin connected to the trig of the ultrasonic sensor
+ */
+extern void resource_close_ultrasonic_jsn_sr04t_trig(int trig_pin_num);
+
+/**
+ * @brief Releases the gpio handle and changes the gpio pin state to the close(0).
+ * @param[in] echo_pin_num The number of the gpio pin connected to the echo of the ultrasonic sensor
+ */
+extern void resource_close_ultrasonic_jsn_sr04t_echo(int echo_pin_num);
+
+#endif /* __RESOURCE_ULTRASONIC_JSN_SR04T_INTERNAL_H__ */
--- /dev/null
+/*
+ * Copyright (c) 2019 SINO TECH Co., Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <peripheral_io.h>
+#include <sys/time.h>
+#include <gio/gio.h>
+#include <log.h>
+#include <pthread.h>
+
+#include "resource_internal.h"
+
+static resource_read_s *resource_read_info = NULL;
+
+void resource_close_ultrasonic_jsn_sr04t_trig(int trig_pin_num)
+{
+ _I("Ultrasonic sensor's trig is finishing...");
+
+ if (resource_get_info(trig_pin_num)->opened) {
+ peripheral_gpio_close(resource_get_info(trig_pin_num)->sensor_h);
+ resource_get_info(trig_pin_num)->opened = 0;
+ }
+}
+
+void resource_close_ultrasonic_jsn_sr04t_echo(int echo_pin_num)
+{
+ int ret = PERIPHERAL_ERROR_NONE;
+
+ _I("Ultrasonic sensor's echo is finishing...");
+
+ if (resource_get_info(echo_pin_num)->opened) {
+ ret = peripheral_gpio_unset_interrupted_cb(resource_get_info(echo_pin_num)->sensor_h);
+ if (ret != PERIPHERAL_ERROR_NONE) {
+ _E("It fails to unset the interrupted callback");
+ }
+
+ peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
+ resource_get_info(echo_pin_num)->opened = 0;
+ }
+
+ free(resource_read_info);
+ resource_read_info = NULL;
+}
+
+static unsigned long long _get_timestamp(void)
+{
+ struct timespec t;
+ clock_gettime(CLOCK_REALTIME, &t);
+ return ((unsigned long long) t.tv_sec * 1000000000LL + t.tv_nsec) / 1000;
+}
+
+static void _resource_read_ultrasonic_sensor_cb(peripheral_gpio_h gpio, peripheral_error_e error, void *user_data)
+{
+ float dist = 0;
+ static uint32_t value = 0;
+ static unsigned long long triggered_time = 0;
+ static unsigned long long returned_time = 0;
+ resource_read_s *resource_read_info = user_data;
+ int ret = PERIPHERAL_ERROR_NONE;
+
+ ret_if(!resource_read_info);
+ ret_if(!resource_read_info->cb);
+
+ ret = peripheral_gpio_read(gpio, &value);
+ ret_if(ret != PERIPHERAL_ERROR_NONE);
+
+ if (value) {
+ triggered_time = _get_timestamp();
+ } else {
+ returned_time = _get_timestamp();
+ }
+
+ if (triggered_time > 0 && value == 0) {
+#ifdef DEBUG
+ _D("value:%d, returned_time:%lld", value, returned_time);
+#endif
+
+ dist = returned_time - triggered_time;
+ dist = (dist * 34300) / 2000000;
+
+ resource_read_info->cb(dist, resource_read_info->data);
+
+ triggered_time = 0l;
+#ifdef DEBUG
+ } else {
+ _D("value:%d, triggered_time:%lld", value, triggered_time);
+#endif
+ }
+}
+
+int resource_read_ultrasonic_jsn_sr04t(int trig_pin_num, int echo_pin_num, resource_read_cb cb, void *data)
+{
+ int ret = PERIPHERAL_ERROR_NONE;
+
+ if (!resource_get_info(trig_pin_num)->opened) {
+ _I("Ultrasonic sensor's trig is initializing...");
+
+ ret = peripheral_gpio_open(trig_pin_num, &resource_get_info(trig_pin_num)->sensor_h);
+ retv_if(ret != PERIPHERAL_ERROR_NONE, -1);
+
+ ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT_INITIALLY_LOW);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, error);
+
+ resource_get_info(trig_pin_num)->opened = 1;
+ resource_get_info(trig_pin_num)->close = resource_close_ultrasonic_jsn_sr04t_trig;
+ }
+
+ if (!resource_get_info(echo_pin_num)->opened) {
+ _I("Ultrasonic sensor's echo is initializing...");
+
+ resource_read_info = calloc(1, sizeof(resource_read_s));
+ goto_if(!resource_read_info, error);
+
+ resource_read_info->cb = cb;
+ resource_read_info->data = data;
+ resource_read_info->pin_num = echo_pin_num;
+
+ ret = peripheral_gpio_open(echo_pin_num, &resource_get_info(echo_pin_num)->sensor_h);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, error);
+
+ ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT_INITIALLY_LOW);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, error);
+
+ ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, error);
+
+ ret = peripheral_gpio_set_edge_mode(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
+ /* WARNING : Setting edge mode returns an error at the first time. */
+ //goto_if(ret != PERIPHERAL_ERROR_NONE, error);
+
+ ret = peripheral_gpio_set_interrupted_cb(resource_get_info(echo_pin_num)->sensor_h, _resource_read_ultrasonic_sensor_cb, resource_read_info);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, error);
+
+ resource_get_info(echo_pin_num)->opened = 1;
+ resource_get_info(echo_pin_num)->close = resource_close_ultrasonic_jsn_sr04t_echo;
+ }
+
+ ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, error);
+
+ /* Requirement : JSN-SR04T Specification */
+ usleep(10);
+
+ ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, error);
+
+ /* Requirement : JSN-SR04T Specification */
+ usleep(10);
+
+ ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
+ goto_if(ret != PERIPHERAL_ERROR_NONE, error);
+
+ return 0;
+
+error:
+ resource_close_ultrasonic_jsn_sr04t_trig(trig_pin_num);
+ resource_close_ultrasonic_jsn_sr04t_echo(echo_pin_num);
+ return -1;
+}
projects / apps / native / rcc.git / commitdiff