urm37.h

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/*
 * Author: Jon Trulson <jtrulson@ics.com>
 *         Abhishek Malik <abhishek.malik@intel.com>
 * Copyright (c) 2016 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.
 */

#ifndef URM37_H_
#define URM37_H_

#include <stdint.h>
#include "upm.h"
#include "mraa/aio.h"
#include "mraa/gpio.h"
#include "mraa/uart.h"

#ifdef __cplusplus
extern "C" {
#endif

typedef struct _urm37_context {
  mraa_aio_context    aio;
  mraa_gpio_context   gpio_reset;
  mraa_gpio_context   gpio_trigger;
  mraa_uart_context   uart;

  bool                is_analog_mode;

  float               a_ref;
  float               a_res;
} *urm37_context;

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);

#ifdef __cplusplus
}
#endif

#endif /* URM37_H_ */