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/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Author: Rafael Neri <rafael.neri@gmail.com>
* Copyright (c) 2014-2015 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 <mraa/aio.h>
#include <mraa/gpio.h>
#include <mraa/pwm.h>
#include <sys/time.h>
#define CM 1
#define INC 0
namespace upm {
/**
* @brief HC-SR04 Ultrasonic Sensor library
* @defgroup hcsr04 libupm-hcsr04
* @ingroup generic gpio sound
*/
/**
* @library hcsr04
* @sensor hcsr04
* @comname HC-SR04 Ultrasonic Sensor
* @type sound
* @man generic
* @con gpio
*
* @brief API for the HC-SR04 Ultrasonic Sensor
*
* This module defines the HC-SR04 interface for libhcsr04
*
* @image html groveultrasonic.jpg
* @snippet hcsr04.cxx Interesting
*/
class HCSR04 {
public:
/**
* Instantiates an HCSR04 object
*
* @param triggerPin Pin to trigger the sensor for distance
* @param echoPin Pulse response to triggering
* @param fptr Function pointer to handle rising-edge and
* falling-edge interrupts
*/
HCSR04 (uint8_t triggerPin, uint8_t echoPin);
/**
* HCSR04 object destructor
*/
~HCSR04 ();
/**
* Gets the distance from the sensor
*/
double getDistance (int sys);
uint8_t m_doWork; /**< Flag to control blocking function while waiting for a falling-edge interrupt */
/**
* Returns the name of the sensor
*/
std::string name()
{
return m_name;
}
private:
/**
* On each interrupt, this function detects if the interrupt
* was falling-edge or rising-edge.
*/
static void ackEdgeDetected (void *ctx);
double timing();
mraa_gpio_context m_triggerPinCtx;
mraa_gpio_context m_echoPinCtx;
long m_RisingTimeStamp;
long m_FallingTimeStamp;
uint8_t m_InterruptCounter;
std::string m_name;
};
}
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