urm37.h File Reference

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API Description

An example using analog mode

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2016 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.
 */

#include <unistd.h>
#include <signal.h>

#include "urm37.h"
#include "upm_utilities.h"

bool shouldRun = true;

void sig_handler(int signo)
{
  if (signo == SIGINT)
    shouldRun = false;
}

int main()
{
    signal(SIGINT, sig_handler);


    // Instantiate a URM37 sensor on analog pin A0, reset pin on D2,
    // trigger pin on D3 with an analog reference voltage of 5.0
    urm37_context sensor = urm37_init(0, 2, 3, 5.0, 0, true);

    if (!sensor)
    {
        printf("urm37_init() failed.\n");
        return(1);
    }

    // Every half a second, sample the URM37 and output the measured
    // distance in cm.

    while (shouldRun)
    {
        float distance;

        urm37_get_distance(sensor, &distance, 0);
        printf("Detected distance (cm): %f\n", distance);
        upm_delay_ms(500);
    }


    printf("Exiting\n");

    urm37_close(sensor);

    return 0;
}

Interesting An example using UART mode

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2016 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.
 */

#include <unistd.h>
#include <signal.h>

#include "urm37.h"
#include "upm_utilities.h"

bool shouldRun = true;

void sig_handler(int signo)
{
  if (signo == SIGINT)
    shouldRun = false;
}

int main()
{
    signal(SIGINT, sig_handler);


    // Instantiate a URM37 sensor on UART 0, with the reset pin on D2
    urm37_context sensor = urm37_init(0, 2, 0, 0, 0, false);

    if (!sensor)
    {
        printf("urm37_init() failed.\n");
        return(1);
    }

    // Every half a second, sample the URM37 and output the measured
    // distance in cm.

    while (shouldRun)
    {
        float distance, temperature;

        urm37_get_distance(sensor, &distance, 0);
        printf("Detected distance (cm): %f\n", distance);

        urm37_get_temperature(sensor, &temperature);
        printf("Temperature (C): %f\n\n", temperature);
        upm_delay_ms(500);
    }


    printf("Exiting\n");

    urm37_close(sensor);

    return 0;
}

Interesting

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Data Structures
struct	_urm37_context

Functions
urm37_context	urm37_init (uint8_t a_pin, uint8_t reset_pin, uint8_t trigger_pin, float a_ref, uint8_t uart, bool analog_mode)
void	urm37_close (urm37_context dev)
upm_result_t	urm37_reset (urm37_context dev)
upm_result_t	urm37_get_distance (urm37_context dev, float *distance, int degrees)
upm_result_t	urm37_get_temperature (urm37_context dev, float *temperature)
upm_result_t	urm37_read_eeprom (urm37_context dev, uint8_t addr, uint8_t *value)
upm_result_t	urm37_write_eeprom (urm37_context dev, uint8_t addr, uint8_t value)
upm_result_t	urm37_send_command (urm37_context dev, char *cmd, char *response)

Typedefs
typedef struct _urm37_context *	urm37_context

Function Documentation

urm37_context urm37_init	(	uint8_t	a_pin,
		uint8_t	reset_pin,
		uint8_t	trigger_pin,
		float	a_ref,
		uint8_t	uart,
		bool	analog_mode
	)

URM37 Initializer

Parameters

a_pin	Analog pin to use. Ignored in UART mode.
reset_pin	GPIO pin to use for reset
trigger_pin	GPIO pin to use for triggering a distance measurement. Ignored in UART mode.
a_ref	The analog reference voltage. Ignored in UART mode.
uart	Default UART to use (0 or 1). Ignored in analog mode.
mode	true for analog mode, false otherwise.

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void urm37_close

(

urm37_context

dev

)

URM37 sensor close function

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upm_result_t urm37_reset

(

urm37_context

dev

)

Reset the device. This will take approximately 3 seconds to complete.

Parameters

dev	sensor context

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upm_result_t urm37_get_distance	(	urm37_context	dev,
		float *	distance,
		int	degrees
	)

Get the distance measurement. A return value of 65535.0 in UART mode indicates an invalid measurement.

Parameters

dev	sensor context
distance	A pointer to a float that will contain the distance in CM if the measurement is successful.
degrees	In UART mode, this specifies the degrees to turn an attached PWM servo connected to the MOTO output on the URM37. Valid values are 0-270. This option is ignored in analog mode. If you are not using this functionality, just pass 0.

Returns

UPM status code

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upm_result_t urm37_get_temperature	(	urm37_context	dev,
		float *	temperature
	)

Get the temperature measurement. This is only valid in UART mode.

Parameters

dev	sensor context
temperature	A float pointer containing the measured temperature in degrees C

Returns

UPM status code

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upm_result_t urm37_read_eeprom	(	urm37_context	dev,
		uint8_t	addr,
		uint8_t *	value
	)

In UART mode only, read a value from the EEPROM and return it.

Parameters

dev	sensor context
addr	The address in the EEPROM to read. Valid values are between 0x00-0x04.
value	A pointer containing the returned value.

Returns

UPM status code

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upm_result_t urm37_write_eeprom	(	urm37_context	dev,
		uint8_t	addr,
		uint8_t	value
	)

In UART mode only, write a value into an address on the EEPROM.

Parameters

dev	sensor context
addr	The address in the EEPROM to write. Valid values are between 0x00-0x04.
value	The value to write

Returns

UPM status code

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upm_result_t urm37_send_command	(	urm37_context	dev,
		char *	cmd,
		char *	response
	)

In UART mode only, send a 4-byte command, and return a 4-byte response.

Parameters

dev	sensor context
cmd	A 4-byte command to transmit
response	The 4-byte response

Returns

UPM response code (success, failure, or timeout)

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Typedef Documentation

typedef struct _urm37_context * urm37_context

device context