groveultrasonic: Initial implementation

This module was developed and tested on a Grove Ultrasonic Ranger module.

http://www.seeedstudio.com/wiki/Grove_-_Ultrasonic_Ranger

Signed-off-by: Jun Kato <i@junkato.jp>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/c++/CMakeLists.txt

@@ -154,6 +154,7 @@ add_executable (adxrs610-example adxrs610.cxx)
 add_executable (bma220-example bma220.cxx)
 add_executable (dfrph-example dfrph.cxx)
 add_executable (mcp9808-example mcp9808.cxx)
+add_executable (groveultrasonic-example groveultrasonic.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -272,6 +273,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/adxrs610)
 include_directories (${PROJECT_SOURCE_DIR}/src/bma220)
 include_directories (${PROJECT_SOURCE_DIR}/src/dfrph)
 include_directories (${PROJECT_SOURCE_DIR}/src/mcp9808)
+include_directories (${PROJECT_SOURCE_DIR}/src/groveultrasonic)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -427,3 +429,4 @@ target_link_libraries (adxrs610-example adxrs610 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (bma220-example bma220 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (dfrph-example dfrph ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (mcp9808-example mcp9808 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (groveultrasonic-example groveultrasonic ${CMAKE_THREAD_LIBS_INIT})

examples/c++/groveultrasonic.cxx

@@ -0,0 +1,58 @@
+/*
+ * Author: Jun Kato <i@junkato.jp>
+ * Copyright (c) 2015 Jun Kato.
+ *
+ * Thanks to Seeed Studio for a working arduino sketch
+ *
+ * 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 "groveultrasonic.h"
+#include <signal.h>
+#include <stdlib.h>
+#include <sys/time.h>
+
+upm::GroveUltraSonic *sonar = NULL;
+
+void
+sig_handler(int signo)
+{
+    printf("got signal\n");
+    if (signo == SIGINT) {
+      sonar->m_doWork = 1;
+    }
+}
+
+int
+main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+  // upm::GroveUltraSonic *sonar = NULL;
+  sonar = new upm::GroveUltraSonic(2);
+  printf("width = %d\n", sonar->getDistance());
+  delete sonar;
+//! [Interesting]
+  printf("exiting application\n");
+
+  return 0;
+}

examples/javascript/groveultrasonic.js

@@ -0,0 +1,45 @@
+/*
+ * Author: Jun Kato <i@junkato.jp>
+ * Copyright (c) 2015 Jun Kato.
+ *
+ * Thanks to Seeed Studio for a working arduino sketch
+ *
+ * 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.
+ */
+
+var ultrasonic = require("jsupm_groveultrasonic");
+var sensor = new ultrasonic.GroveUltraSonic(2);
+
+var myInterval = setInterval(function()
+{
+  var travelTime = sensor.getDistance();
+  if (travelTime > 0) {
+    var distance = (travelTime / 29 / 2).toFixed(3);
+    console.log("distance: " + distance + " [cm]");
+  }
+}, 200);
+
+// When exiting: clear interval and print message
+process.on('SIGINT', function()
+{
+  clearInterval(myInterval);
+  console.log("Exiting...");
+  process.exit(0);
+});

src/groveultrasonic/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "groveultrasonic")
+set (libdescription "upm grove ultrasonic proximity sensor")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/groveultrasonic/groveultrasonic.cxx

@@ -0,0 +1,104 @@
+/*
+ * Author: Jun Kato <i@junkato.jp>
+ * Copyright (c) 2015 Jun Kato.
+ *
+ * Thanks to Seeed Studio for a working arduino sketch
+ *
+ * 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 "groveultrasonic.h"
+
+using namespace upm;
+
+GroveUltraSonic::GroveUltraSonic (uint8_t pin) {
+    mraa_result_t error = MRAA_SUCCESS;
+    m_name = "GroveUltraSonic";
+
+    mraa_init();
+
+    // setup pin
+    m_pinCtx = mraa_gpio_init(pin);
+    if (m_pinCtx == NULL) {
+        fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", pin);
+        exit (1);
+    }
+    mraa_gpio_use_mmaped(m_pinCtx, 1);
+    mraa_gpio_isr (m_pinCtx, MRAA_GPIO_EDGE_BOTH,
+                   &signalISR, this);
+}
+
+GroveUltraSonic::~GroveUltraSonic () {
+
+    // close pin
+    mraa_gpio_isr_exit(m_pinCtx);
+    mraa_gpio_close (m_pinCtx);
+}
+
+int
+GroveUltraSonic::getDistance () {
+
+    // output trigger signal
+    mraa_gpio_dir(m_pinCtx, MRAA_GPIO_OUT);
+    mraa_gpio_write(m_pinCtx, LOW);
+    usleep(2);
+    mraa_gpio_write(m_pinCtx, HIGH);
+    usleep(5);
+    mraa_gpio_write(m_pinCtx, LOW);
+
+    // wait for the pulse,
+    m_doWork = 0;
+    m_InterruptCounter = 0;
+    mraa_gpio_dir(m_pinCtx, MRAA_GPIO_IN);
+
+    // though do not wait over 25 [ms].
+    int timer = 0;
+    while (!m_doWork && timer++ < 5) {
+        // in 25 [ms], sound travels 25000 / 29 / 2 = 431 [cm],
+        // which is more than 400 [cm], the max distance mesurable with this sensor.
+        usleep(5 * 1000); // 5 [ms]
+    }
+
+    // calc diff
+    long diff = m_FallingTimeStamp.tv_usec - m_RisingTimeStamp.tv_usec;
+    diff += (m_FallingTimeStamp.tv_sec - m_RisingTimeStamp.tv_sec) * 1000000;
+    return timer >= 5 ? 0 : diff;
+}
+
+void
+GroveUltraSonic::signalISR(void *ctx) {
+    upm::GroveUltraSonic *This = (upm::GroveUltraSonic *)ctx;
+    This->ackEdgeDetected();
+}
+
+void
+GroveUltraSonic::ackEdgeDetected () {
+    if (++m_InterruptCounter % 2 == 0) {
+        gettimeofday(&m_FallingTimeStamp, NULL);
+        m_doWork = 1;
+    } else {
+        gettimeofday(&m_RisingTimeStamp, NULL);
+    }
+}

src/groveultrasonic/groveultrasonic.h

@@ -0,0 +1,107 @@
+/*
+ * Author: Jun Kato <i@junkato.jp>
+ * Copyright (c) 2015 Jun Kato.
+ *
+ * Thanks to Seeed Studio for a working arduino sketch
+ *
+ * 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 <sys/time.h>
+
+#define HIGH                   1
+#define LOW                    0
+
+#define MAX_PERIOD             7968
+#define TRIGGER_PULSE          10
+
+namespace upm {
+
+/**
+ * @brief Grove ultrasonic sensor library
+ * @defgroup groveultrasonic libupm-groveultrasonic
+ */
+
+/**
+ * @brief C++ API for Grove ultrasonic ranging component
+ *
+ * This file defines the GroveUltraSonic C++ interface for libgroveultrasonic
+ *
+ * @ingroup groveultrasonic gpio
+ */
+class GroveUltraSonic {
+    public:
+        /**
+         * Instanciates a GroveUltraSonic object
+         *
+         * @param pin pin for triggering the sensor for distance and for receiving pulse response
+         */
+        GroveUltraSonic (uint8_t pin);
+
+        /**
+         * GroveUltraSonic object destructor.
+         */
+        ~GroveUltraSonic ();
+
+        /**
+         * Get the distance from the sensor.
+         */
+        int getDistance ();
+
+        /**
+         * Return name of the component
+         */
+        std::string name()
+        {
+            return m_name;
+        }
+
+        /**
+         * ISR for the pulse signal
+         */
+        static void signalISR(void *ctx);
+
+        /**
+         * Flag to controll blocking function while waiting for falling edge interrupt
+         */
+        uint8_t m_doWork;
+
+    private:
+        mraa_gpio_context m_pinCtx;
+
+        uint8_t m_InterruptCounter;
+        struct timeval m_RisingTimeStamp;
+        struct timeval m_FallingTimeStamp;
+
+        std::string m_name;
+
+        /**
+         * On each interrupt this function will detect if the interrupt
+         * was falling edge or rising.
+         * Should be called from the interrupt handler.
+         */
+        void ackEdgeDetected ();
+};
+
+}

src/groveultrasonic/jsupm_groveultrasonic.i

@@ -0,0 +1,8 @@
+%module jsupm_groveultrasonic
+%include "../upm.i"
+
+%{
+    #include "groveultrasonic.h"
+%}
+
+%include "groveultrasonic.h"

src/groveultrasonic/pyupm_groveultrasonic.i

@@ -0,0 +1,9 @@
+%module pyupm_groveultrasonic
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "groveultrasonic.h"
+%{
+    #include "groveultrasonic.h"
+%}