1 /* 2 * Author: Jon Trulson <jtrulson (at) ics.com> 3 * Copyright (c) 2015 Intel Corporation. 4 * 5 * Permission is hereby granted, free of charge, to any person obtaining 6 * a copy of this software and associated documentation files (the 7 * "Software"), to deal in the Software without restriction, including 8 * without limitation the rights to use, copy, modify, merge, publish, 9 * distribute, sublicense, and/or sell copies of the Software, and to 10 * permit persons to whom the Software is furnished to do so, subject to 11 * the following conditions: 12 * 13 * The above copyright notice and this permission notice shall be 14 * included in all copies or substantial portions of the Software. 15 * 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23 */ 24 #pragma once 25 26 #include <string> 27 #include <mraa/gpio.h> 28 29 #if defined(SWIGJAVA) || defined(JAVACALLBACK) 30 #include "../IsrCallback.h" 31 #endif 32 33 namespace upm { 34 35 /** 36 * @brief RPR220 IR Reflective Sensor library 37 * @defgroup rpr220 libupm-rpr220 38 * @ingroup seeed gpio light tsk hak 39 */ 40 /** 41 * @library rpr220 42 * @sensor rpr220 43 * @comname RPR220 IR Reflective Sensor 44 * @altname Grove IR Reflective Sensor 45 * @type light 46 * @man seeed 47 * @web http://www.seeedstudio.com/wiki/Grove_-_Infrared_Reflective_Sensor 48 * @con gpio 49 * @kit tsk hak 50 * 51 * @brief API for the RPR220-based Grove IR Reflective Sensor 52 * 53 * UPM module for the Grove IR reflective sensor. The sensitivity 54 * can be adjusted with the potentiometer on the sensor module. It 55 * has a range of approximately 15 mm, and a quick response time. 56 * 57 * It detects high-contrast dark areas on a light background. 58 * 59 * This module allows the user to determine the current status 60 * (black detected or not). Additionally, if desired, an interrupt 61 * service routine (ISR) can be installed that is called when 62 * black is detected. Either method can be used, depending on your 63 * use case. 64 * 65 * @image html rpr220.jpg 66 * @snippet rpr220.cxx Interesting 67 * @snippet rpr220-intr.cxx Interesting 68 */ 69 class RPR220 { 70 public: 71 /** 72 * RPR220 constructor 73 * 74 * @param pin Digital pin to use 75 */ 76 RPR220(int pin); 77 78 /** 79 * RPR220 destructor 80 */ 81 ~RPR220(); 82 83 /** 84 * Gets the status of the pin; true means black has been detected 85 * 86 * @return True if the sensor has detected black 87 */ 88 bool blackDetected(); 89 90 #if defined(SWIGJAVA) || defined(JAVACALLBACK) 91 void installISR(IsrCallback *cb); 92 #else 93 /** 94 * Installs an ISR to be called when 95 * black is detected 96 * 97 * @param fptr Pointer to a function to be called on interrupt 98 * @param arg Pointer to an object to be supplied as an 99 * argument to the ISR. 100 */ 101 void installISR(void (*isr)(void *), void *arg); 102 #endif 103 104 /** 105 * Uninstalls the previously installed ISR 106 * 107 */ 108 void uninstallISR(); 109 110 private: 111 #if defined(SWIGJAVA) || defined(JAVACALLBACK) 112 void installISR(void (*isr)(void *), void *arg); 113 #endif 114 bool m_isrInstalled; 115 mraa_gpio_context m_gpio; 116 }; 117 } 118 119 120
