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/*
* Copyright (c) 2017 Samsung Electronics Co., Ltd All Rights Reserved
*
* Contact: Jin Yoon <jinny.yoon@samsung.com>
* Geunsun Lee <gs86.lee@samsung.com>
* Eunyoung Lee <ey928.lee@samsung.com>
* Junkyu Han <junkyu.han@samsung.com>
*
* 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 "resource_internal.h"
void resource_close_ultrasonic_sensor(int echo_pin_num, int trig_pin_num)
{
if (!resource_get_info(echo_pin_num)->opened) return;
if (!resource_get_info(trig_pin_num)->opened) return;
_I("Ultrasonic sensor is finishing...");
peripheral_gpio_close(resource_get_info(echo_pin_num)->sensor_h);
peripheral_gpio_close(resource_get_info(trig_pin_num)->sensor_h);
resource_get_info(echo_pin_num)->opened = 0;
resource_get_info(trig_pin_num)->opened = 0;
}
static void _resource_read_ultrasonic_sensor_cb(gpio_isr_cb_s *data, void *user_data)
{
float dist = 0;
static unsigned long long timestamp = 0;
resource_read_s *resource_read_info = user_data;
ret_if(!resource_read_info);
ret_if(!resource_read_info->cb);
if (timestamp > 0 && data->value == 0) {
dist = data->timestamp - timestamp;
dist = (dist * 34300) / 2000000;
_I("Measured Distance : %0.2fcm\n", dist);
resource_read_info->cb(dist, resource_read_info->data);
peripheral_gpio_unregister_cb(resource_get_info(resource_read_info->pin_num)->sensor_h);
free(resource_read_info);
}
timestamp = data->timestamp;
}
int resource_read_ultrasonic_sensor(int trig_pin_num, int echo_pin_num, resource_read_cb cb, void *data)
{
int ret = 0;
resource_read_s *resource_read_info = NULL;
resource_read_info = calloc(1, sizeof(resource_read_s));
retv_if(!resource_read_info, -1);
resource_read_info->cb = cb;
resource_read_info->data = data;
resource_read_info->pin_num = echo_pin_num;
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(!resource_get_info(trig_pin_num)->sensor_h, -1);
ret = peripheral_gpio_set_direction(resource_get_info(trig_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_OUT);
retv_if(ret != 0, -1);
resource_get_info(trig_pin_num)->opened = 1;
}
if (!resource_get_info(echo_pin_num)->opened) {
_I("Ultrasonic sensor's echo is initializing...");
ret = peripheral_gpio_open(echo_pin_num, &resource_get_info(echo_pin_num)->sensor_h);
retv_if(!resource_get_info(echo_pin_num)->sensor_h, -1);
ret = peripheral_gpio_set_direction(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_DIRECTION_IN);
retv_if(ret != 0, -1);
ret = peripheral_gpio_set_edge_mode(resource_get_info(echo_pin_num)->sensor_h, PERIPHERAL_GPIO_EDGE_BOTH);
retv_if(ret != 0, -1);
resource_get_info(echo_pin_num)->opened = 1;
}
if (resource_get_info(echo_pin_num)->sensor_h) {
ret = peripheral_gpio_register_cb(resource_get_info(echo_pin_num)->sensor_h, _resource_read_ultrasonic_sensor_cb, resource_read_info);
retv_if(ret != 0, -1);
}
ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
retv_if(ret < 0, -1);
ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 1);
retv_if(ret < 0, -1);
ret = peripheral_gpio_write(resource_get_info(trig_pin_num)->sensor_h, 0);
retv_if(ret < 0, -1);
return 0;
}
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