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Diffstat (limited to 'peripheral/libupm/src/urm37/urm37.h')
| -rw-r--r-- | peripheral/libupm/src/urm37/urm37.h | 205 |
1 files changed, 205 insertions, 0 deletions
diff --git a/peripheral/libupm/src/urm37/urm37.h b/peripheral/libupm/src/urm37/urm37.h new file mode 100644 index 0000000..21554b9 --- /dev/null +++ b/peripheral/libupm/src/urm37/urm37.h @@ -0,0 +1,205 @@ +/* + * Author: Jon Trulson <jtrulson@ics.com> + * Copyright (c) 2015 Intel Corporation. + * + * Thanks to Adafruit for supplying a google translated version of the + * Chinese datasheet and some clues in their code. + * + * 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 <iostream> + +#include <stdlib.h> +#include <unistd.h> +#include <string.h> + +#include <mraa/common.hpp> +#include <mraa/uart.hpp> +#include <mraa/aio.hpp> +#include <mraa/gpio.hpp> + +#define URM37_DEFAULT_UART 0 + +namespace upm { + /** + * @brief DFRobot URM37 Ultrasonic Ranger + * @defgroup urm37 libupm-urm37 + * @ingroup dfrobot uart gpio ainput sound + */ + + /** + * @library urm37 + * @sensor urm37 + * @comname DFRobot URM37 Ultrasonic Ranger + * @type sound + * @man dfrobot + * @con uart ainput gpio + * @web http://www.dfrobot.com/index.php?route=product/product&product_id=53 + * + * @brief API for the DFRobot URM37 Ultrasonic Ranger + * + * The driver was tested with the DFRobot URM37 Ultrasonic Ranger, + * V4. It has a range of between 5 and 500 centimeters (cm). It + * supports both analog distance measurement, and UART based + * temperature and distance measurements. This driver does not + * support PWM measurement mode. + * + * For UART operation, the only supported baud rate is 9600. In + * addition, you must ensure that the UART TX/RX pins are + * configured for TTL operation (the factory default) rather than + * RS232 operation, or permanent damage to your URM37 and/or MCU + * will result. On power up, the LED indicator will blink one + * long pulse, followed by one short pulse to indicate TTL + * operation. See the DFRobot wiki for more information: + * + * (https://www.dfrobot.com/wiki/index.php?title=URM37_V4.0_Ultrasonic_Sensor_%28SKU:SEN0001%29) + * + * @image html urm37.jpg + * An example using analog mode + * @snippet urm37.cxx Interesting + * An example using UART mode + * @snippet urm37-uart.cxx Interesting + */ + + class URM37 { + public: + + /** + * URM37 object constructor (Analog mode) + * + * @param aPin Analog pin to use + * @param resetPin GPIO pin to use for reset + * @param triggerPin GPIO pin to use for triggering a distance measurement + * @param aref The analog reference voltage, default 5.0 + */ + URM37(int aPin, int resetPin, int triggerPin, float aref=5.0); + + /** + * URM37 object constructor (UART mode) + * + * @param uart Default UART to use (0 or 1). + * @param resetPin GPIO pin to use for reset + */ + URM37(int uart, int resetPin); + + /** + * URM37 object destructor + */ + ~URM37(); + + /** + * Reset the device. This will take approximately 3 seconds to + * complete. + * + */ + void reset(); + + /** + * Get the distance measurement. A return value of 65535.0 + * in UART mode indicates an invalid measurement. + * + * @param degrees in UART mode, this specifies the degrees to turn + * an attached PWM servo connected to the MOTO output on the + * URM37. Default is 0. Valid values are 0-270. This option is + * ignored in analog mode. + * @return The measured distance in cm + */ + float getDistance(int degrees=0); + + /** + * Get the temperature measurement. This is only valid in UART mode. + * + * @return The measured temperature in degrees C + */ + float getTemperature(); + + /** + * In UART mode only, read a value from the EEPROM and return it. + * + * @param addr The address in the EEPROM to read. Valid values + * are between 0x00-0x04. + * @return The EEPROM value at addr + */ + uint8_t readEEPROM(uint8_t addr); + + /** + * In UART mode only, write a value into an address on the EEPROM. + * + * @param addr The address in the EEPROM to write. Valid values + * are between 0x00-0x04. + * @param value The value to write + * @return The EEPROM value at addr + */ + void writeEEPROM(uint8_t addr, uint8_t value); + + protected: + mraa::Uart *m_uart; + mraa::Aio *m_aio; + mraa::Gpio *m_gpioTrigger; + mraa::Gpio m_gpioReset; + + // initialize reset gpio and call reset + void init(); + + // send a serial command and return a 4 byte response (UART mode only) + std::string sendCommand(std::string cmd); + + private: + /** + * Checks to see if there is data aavailable for reading + * + * @param millis Number of milliseconds to wait; 0 means no waiting + * @return true if there is data available for reading + */ + bool dataAvailable(unsigned int millis); + + /** + * Reads any available data and returns it in a std::string. Note: + * the call blocks until data is available for reading. Use + * dataAvailable() to determine whether there is data available + * beforehand, to avoid blocking. + * + * @param len Maximum length of the data to be returned + * @return Number of bytes read + */ + std::string readDataStr(int len); + + /** + * Writes the std:string data to the device. If you are writing a + * command, be sure to terminate it with a carriage return (\r) + * + * @param data Buffer to write to the device + * @return Number of bytes written + */ + int writeDataStr(std::string data); + + // analog or UART mode + bool m_analogMode; + + // analog reference and resolution + float m_aref; + int m_aRes; + }; +} + + |