1 files changed, 0 insertions, 104 deletions
diff --git a/peripheral/libupm/src/groveultrasonic/groveultrasonic.cxx b/peripheral/libupm/src/groveultrasonic/groveultrasonic.cxx
deleted file mode 100644
index 2a695f7..0000000
--- a/peripheral/libupm/src/groveultrasonic/groveultrasonic.cxx
+++ /dev/null
@@ -1,104 +0,0 @@
-/*
- * Author: Jun Kato <i@junkato.jp>
- * Copyright (c) 2015 Jun Kato.
- *
- * Thanks to Seeed Studio for a working arduino sketch
- *
- * 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 <iostream>
-#include <unistd.h>
-#include <stdlib.h>
-#include <functional>
-
-#include "groveultrasonic.h"
-
-using namespace upm;
-
-GroveUltraSonic::GroveUltraSonic (uint8_t pin) {
-    mraa_result_t error = MRAA_SUCCESS;
-    m_name = "GroveUltraSonic";
-
-    mraa_init();
-
-    // setup pin
-    m_pinCtx = mraa_gpio_init(pin);
-    if (m_pinCtx == NULL) {
-        fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", pin);
-        exit (1);
-    }
-    mraa_gpio_use_mmaped(m_pinCtx, 1);
-    mraa_gpio_isr (m_pinCtx, MRAA_GPIO_EDGE_BOTH,
-                   &signalISR, this);
-}
-
-GroveUltraSonic::~GroveUltraSonic () {
-
-    // close pin
-    mraa_gpio_isr_exit(m_pinCtx);
-    mraa_gpio_close (m_pinCtx);
-}
-
-int
-GroveUltraSonic::getDistance () {
-
-    // output trigger signal
-    mraa_gpio_dir(m_pinCtx, MRAA_GPIO_OUT);
-    mraa_gpio_write(m_pinCtx, LOW);
-    usleep(2);
-    mraa_gpio_write(m_pinCtx, HIGH);
-    usleep(5);
-    mraa_gpio_write(m_pinCtx, LOW);
-
-    // wait for the pulse,
-    m_doWork = true;
-    m_InterruptCounter = 0;
-    mraa_gpio_dir(m_pinCtx, MRAA_GPIO_IN);
-
-    // though do not wait over 25 [ms].
-    int timer = 0;
-    while (m_doWork && timer++ < 5) {
-        // in 25 [ms], sound travels 25000 / 29 / 2 = 431 [cm],
-        // which is more than 400 [cm], the max distance measurable with this sensor.
-        usleep(5 * 1000); // 5 [ms]
-    }
-
-    // calc diff
-    long diff = m_FallingTimeStamp.tv_usec - m_RisingTimeStamp.tv_usec;
-    diff += (m_FallingTimeStamp.tv_sec - m_RisingTimeStamp.tv_sec) * 1000000;
-    return timer >= 5 ? 0 : diff;
-}
-
-void
-GroveUltraSonic::signalISR(void *ctx) {
-    upm::GroveUltraSonic *This = (upm::GroveUltraSonic *)ctx;
-    This->ackEdgeDetected();
-}
-
-void
-GroveUltraSonic::ackEdgeDetected () {
-    if (++m_InterruptCounter % 2 == 0) {
-        gettimeofday(&m_FallingTimeStamp, NULL);
-        m_doWork = false;
-    } else {
-        gettimeofday(&m_RisingTimeStamp, NULL);
-    }
-}