driver_hcsr04.c

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#include "driver_hcsr04.h"

#define CHIP_NAME                 "JieShenna HCSR04"        
#define MANUFACTURER_NAME         "JieShenna"               
#define SUPPLY_VOLTAGE_MIN        4.8f                      
#define SUPPLY_VOLTAGE_MAX        5.0f                      
#define MAX_CURRENT               15.0f                     
#define TEMPERATURE_MIN           -40.0f                    
#define TEMPERATURE_MAX           85.0f                     
#define DRIVER_VERSION            2000                      

uint8_t hcsr04_init(hcsr04_handle_t *handle)
{
    if (handle == NULL)                                                  /* check handle */
    {
        return 2;                                                        /* return error */
    }
    if (handle->debug_print == NULL)                                     /* check debug_print */
    {
        return 3;                                                        /* return error */
    }
    if (handle->trig_init == NULL)                                       /* check trig_init */
    {
        handle->debug_print("hcsr04: trig_init is null.\n");             /* trig_init is null */
       
        return 3;                                                        /* return error */
    }
    if (handle->trig_deinit == NULL)                                     /* check trig_deinit */
    {
        handle->debug_print("hcsr04: trig_deinit is null.\n");           /* trig_deinit is null */
       
        return 3;                                                        /* return error */
    }
    if (handle->trig_write == NULL)                                      /* check trig_write */
    {
        handle->debug_print("hcsr04: trig_write is null.\n");            /* trig_write is null */
       
        return 3;                                                        /* return error */
    }
    if (handle->echo_init == NULL)                                       /* check echo_init */
    {
        handle->debug_print("hcsr04: echo_init is null.\n");             /* echo_init is null */
       
        return 3;                                                        /* return error */
    }
    if (handle->echo_deinit == NULL)                                     /* check echo_deinit */
    {
        handle->debug_print("hcsr04: echo_deinit is null.\n");           /* echo_deinit is null */
       
        return 3;                                                        /* return error */
    }
    if (handle->echo_read == NULL)                                       /* check echo_read */
    {
        handle->debug_print("hcsr04: echo_read is null.\n");             /* echo_read is null */
       
        return 3;                                                        /* return error */
    }
    if (handle->delay_us == NULL)                                        /* check delay_us */
    {
        handle->debug_print("hcsr04: delay_us is null.\n");              /* delay_us is null */
       
        return 3;                                                        /* return error */
    }
    if (handle->delay_ms == NULL)                                        /* check delay_ms */
    {
        handle->debug_print("hcsr04: delay_ms is null.\n");              /* delay_ms is null */
       
        return 3;                                                        /* return error */
    }
    if (handle->timestamp_read == NULL)                                  /* check timestamp_read */
    {
        handle->debug_print("hcsr04: timestamp_read is null.\n");        /* timestamp_read is null */
       
        return 3;                                                        /* return error */
    }
    
    if (handle->trig_init() != 0)                                        /* initialize trig */
    {
        handle->debug_print("hcsr04: trig init failed.\n");              /* trig init failed */
       
        return 1;                                                        /* return error */
    }
    if (handle->echo_init() != 0)                                        /* initialize echo */
    {
        handle->debug_print("hcsr04: echo failed.\n");                   /* return error */
        (void)handle->trig_deinit();                                     /* deinit trig */
        
        return 1;                                                        /* return error */
    }
    handle->inited = 1;                                                  /* flag finish initialization */
 
    return 0;                                                            /* success return 0 */
}

uint8_t hcsr04_deinit(hcsr04_handle_t *handle)
{
    if (handle == NULL)                                              /* check handle */
    {
        return 2;                                                    /* return error */
    }
    if (handle->inited != 1)                                         /* check handle initialization */
    {
        return 3;                                                    /* return error */
    }
    
    if (handle->echo_deinit() != 0)                                  /* echo deinit */
    {
        handle->debug_print("hcsr04: echo deinit failed.\n");        /* echo deinit failed */
        
        return 1;                                                    /* return error */
    }   
    if (handle->trig_deinit() != 0)                                  /* trig deinit */
    {
        handle->debug_print("hcsr04: trig deinit failed.\n");        /* trig deinit failed */
        
        return 1;                                                    /* return error */
    } 
    handle->inited = 0;                                              /* flag close */
    
    return 0;                                                        /* success return 0 */
}

uint8_t hcsr04_read(hcsr04_handle_t *handle, uint32_t *time_us, float *m)
{
    uint8_t res, value;
    hcsr04_time_t time_start;
    hcsr04_time_t time_stop;
    uint32_t timeout;
    uint8_t retry = HCSR04_READ_RETRY_TIMES;
    
    if (handle == NULL)                                                               /* check handle */
    {
        return 2;                                                                     /* return error */
    }
    if (handle->inited != 1)                                                          /* check handle initialization */
    {
        return 3;                                                                     /* return error */
    }
    
    while (1)                                                                         /* loop */
    {
        res = handle->trig_write(1);                                                  /* write trig 1 */
        if (res != 0)                                                                 /* check result */
        {
            handle->debug_print("hcsr04: trig write failed.\n");                      /* trig write failed */
           
            return 1;                                                                 /* return error */
        }
        handle->delay_us(20);                                                         /* delay 20 us */
        res = handle->trig_write(0);                                                  /* write trig 0 */
        if (res != 0)                                                                 /* check result */
        {
            handle->debug_print("hcsr04: trig write failed.\n");                      /* trig write failed */
           
            return 1;                                                                 /* return error */
        }
        value = 0;                                                                    /* reset value */
        timeout = 1000 * 5000;                                                        /* set timeout */
        while (value == 0)                                                            /* wait 5 s */
        {
            res = handle->echo_read((uint8_t *)&value);                               /* read echo data */
            if (res != 0)                                                             /* check result */
            {
                handle->debug_print("hcsr04: echo read failed.\n");                   /* echo read failed */
               
                return 1;                                                             /* return error */
            }
            handle->delay_us(1);                                                      /* delay 1 us */
            timeout--;                                                                /* timeout-- */
            if (timeout == 0)                                                         /* if timeout */
            {
                handle->debug_print("hcsr04: no response.\n");                        /* no response */
                
                return 1;                                                             /* return error */
            }
        }
        res = handle->timestamp_read((hcsr04_time_t *)&time_start);                   /* read timestamp */
        if (res != 0)                                                                 /* check result */
        {
            handle->debug_print("hcsr04: read timestamp failed.\n");                  /* read timestamp failed */
           
            return 1;                                                                 /* return error */
        }
        value = 1;                                                                    /* reset value */
        timeout = 1000 * 5000;                                                        /* wait 5 s */
        while (value != 0)                                                            /* check value */
        {
            res = handle->echo_read((uint8_t *)&value);                               /* read echo data */
            if (res != 0)                                                             /* check result */
            {
                handle->debug_print("hcsr04: echo read failed.\n");                   /* echo read failed */
               
                return 1;                                                             /* return error */
            }
            handle->delay_us(1);                                                      /* delay 1 us */
            timeout--;                                                                /* timeout-- */
            if (timeout == 0)                                                         /* if timeout */
            {
                handle->debug_print("hcsr04: no response.\n");                        /* no response */
               
                return 1;                                                             /* return error */
            }
        }
        res = handle->timestamp_read((hcsr04_time_t *)&time_stop);                    /* read timestamp */
        if (res != 0)                                                                 /* check result */
        {
            handle->debug_print("hcsr04: read timestamp failed.\n");                  /* read timestamp failed */
           
            return 1;                                                                 /* return error */
        }
        if (time_stop.millisecond < time_start.millisecond)                           /* check timestamp */
        {
            handle->debug_print("hcsr04: millisecond timestamp invalid.\n");          /* millisecond timestamp is invalid */
           
            return 1;                                                                 /* return error */
        }
        *time_us = (uint32_t)((int64_t)(((int64_t)time_stop.millisecond - 
                             (int64_t)time_start.millisecond) * 1000 + 
                             (int64_t)((int64_t)time_stop.microsecond - 
                             (int64_t)time_start.microsecond)));                      /* get time */
        if ((*time_us) > 150 * 1000)                                                  /* check time */
        {
            if (retry != 0)                                                           /* check remain retry times */
            {
                retry--;                                                              /* retry times-- */
                handle->delay_ms(150 + rand() % 100);                                 /* delay rand time */
            }
            else
            {
                handle->debug_print("hcsr04: no remain retry times.\n");              /* no remain retry times */
                
                return 1;                                                             /* return error */
            }
        }
        else
        {
            break;                                                                    /* successful */
        }
    }
    *m = 340.0f / 2.0f * (float)(*time_us) / 1000000.0f;                              /* calculate distance */
 
    return 0;                                                                         /* success return 0 */
}

uint8_t hcsr04_info(hcsr04_info_t *info)
{
    if (info == NULL)                                               /* check handle */
    {
        return 2;                                                   /* return error */
    }
    
    memset(info, 0, sizeof(hcsr04_info_t));                         /* initialize hcsr04 info structure */
    strncpy(info->chip_name, CHIP_NAME, 32);                        /* copy chip name */
    strncpy(info->manufacturer_name, MANUFACTURER_NAME, 32);        /* copy manufacturer name */
    strncpy(info->interface, "GPIO", 8);                            /* copy interface name */
    info->supply_voltage_min_v = SUPPLY_VOLTAGE_MIN;                /* set minimal supply voltage */
    info->supply_voltage_max_v = SUPPLY_VOLTAGE_MAX;                /* set maximum supply voltage */
    info->max_current_ma = MAX_CURRENT;                             /* set maximum current */
    info->temperature_max = TEMPERATURE_MAX;                        /* set minimal temperature */
    info->temperature_min = TEMPERATURE_MIN;                        /* set maximum temperature */
    info->driver_version = DRIVER_VERSION;                          /* set driver version */
    
    return 0;                                                       /* success return 0 */
}