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 void resource_close_ultrasonic_sensor(int trig_pin_num, int echo_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(trig_pin_num)->sensor_h);
  39         peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
  40
  41         resource_get_info(trig_pin_num)->opened = 0;
  42         resource_get_info(echo_pin_num)->opened = 0;
  43 }
  44
  45 static unsigned long long _get_timestamp(void)
  46 {
  47         struct timespec t;
  48         clock_gettime(CLOCK_REALTIME, &t);
  49         return ((unsigned long long)(t.tv_sec)*1000000000LL + t.tv_nsec) / 1000;
  50 }
  51
  52 static void _resource_read_ultrasonic_sensor_cb(peripheral_gpio_h gpio, peripheral_error_e error, void *user_data)
  53 {
  54         float dist = 0;
  55         uint32_t value;
  56         static unsigned long long prev = 0;
  57         unsigned long long now = _get_timestamp();
  58         resource_read_s *resource_read_info = user_data;
  59
  60         ret_if(!resource_read_info);
  61         ret_if(!resource_read_info->cb);
  62
  63         peripheral_gpio_read(gpio, &value);
  64
  65         if (prev > 0 && value == 0) {
  66                 dist = now - prev;
  67                 dist = (dist * 34300) / 2000000;
  68                 _I("Measured Distance : %0.2fcm\n", dist);
  69
  70                 resource_read_info->cb(dist, resource_read_info->data);
  71                 peripheral_gpio_unset_interrupted_cb(resource_get_info(resource_read_info->pin_num)->sensor_h);
  72                 free(resource_read_info);
  73         }
  74
  75         prev = now;
  76 }
  77
  78 int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, resource_read_cb cb, void *data)
  79 {
  80         int ret = 0;
  81         resource_read_s *resource_read_info = NULL;
  82
  83         resource_read_info = calloc(1, sizeof(resource_read_s));
  84         retv_if(!resource_read_info, -1);
  85         resource_read_info->cb = cb;
  86         resource_read_info->data = data;
  87         resource_read_info->pin_num = echo_pin_num;
  88
  89         if (!resource_get_info(trig_pin_num)->opened) {
  90                 _I("Ultrasonic sensor's trig is initializing...");
  91
  92                 ret = peripheral_gpio_open(trig_pin_num, &resource_get_info(trig_pin_num)->sensor_h);
  93                 retv_if(!resource_get_info(trig_pin_num)->sensor_h, -1);
  94
  95                 ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT_INITIALLY_LOW);
  96                 retv_if(ret != 0, -1);
  97
  98                 resource_get_info(trig_pin_num)->opened = 1;
  99         }
 100
 101         if (!resource_get_info(echo_pin_num)->opened) {
 102                 _I("Ultrasonic sensor's echo is initializing...");
 103
 104                 ret = peripheral_gpio_open(echo_pin_num, &resource_get_info(echo_pin_num)->sensor_h);
 105                 retv_if(!resource_get_info(echo_pin_num)->sensor_h, -1);
 106
 107                 ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
 108                 retv_if(ret != 0, -1);
 109
 110                 ret = peripheral_gpio_set_edge_mode(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
 111                 retv_if(ret != 0, -1);
 112
 113                 resource_get_info(echo_pin_num)->opened = 1;
 114         }
 115
 116         if (resource_get_info(echo_pin_num)->sensor_h) {
 117                 ret = peripheral_gpio_set_interrupted_cb(resource_get_info(echo_pin_num)->sensor_h, _resource_read_ultrasonic_sensor_cb, resource_read_info);
 118                 retv_if(ret != 0, -1);
 119         }
 120
 121         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 122         retv_if(ret < 0, -1);
 123
 124         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
 125         retv_if(ret < 0, -1);
 126
 127         ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
 128         retv_if(ret < 0, -1);
 129
 130         return 0;
 131 }