urm37.h

/*
 * 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 {
  class URM37 {
  public:

    URM37(int aPin, int resetPin, int triggerPin, float aref=5.0);

    URM37(int uart, int resetPin);

    ~URM37();

    void reset();

    float getDistance(int degrees=0);

    float getTemperature();

    uint8_t readEEPROM(uint8_t 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:
    bool dataAvailable(unsigned int millis);

    std::string readDataStr(int len);

    int writeDataStr(std::string data);

    // analog or UART mode
    bool m_analogMode;

    // analog reference and resolution
    float m_aref;
    int m_aRes;
  };
}