otp538u: C implementation; FTI; C++ wraps C

Signed-off-by: Jon Trulson <jtrulson@ics.com>

examples/c/CMakeLists.txt

@@ -134,6 +134,7 @@ add_example (mma7660)
 add_example (buzzer)
 add_example (ppd42ns)
 add_example (guvas12d)
+add_example (otp538u)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

examples/c/otp538u.c

@@ -0,0 +1,81 @@
+/*
+ * 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 <stdio.h>
+#include <signal.h>
+
+#include <upm_utilities.h>
+#include <otp538u.h>
+
+
+bool shouldRun = true;
+
+// analog voltage, usually 3.3 or 5.0
+#define OTP538U_AREF   5.0
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+    // Instantiate a OTP538U on analog pins A0 and A1
+    // A0 is used for the Ambient Temperature and A1 is used for the
+    // Object temperature.
+    otp538u_context temps = otp538u_init(0, 1, OTP538U_AREF);
+
+    // enable debugging if you would like
+    // otp538u_set_debug(temps, true);
+
+    // Output ambient and object temperatures
+    while (shouldRun)
+    {
+        float ambient = 0, object = 0;
+
+        if (otp538u_get_ambient_temperature(temps, &ambient))
+            printf("otp538u_get_ambient_temperature() failed\n");
+        else if (otp538u_get_object_temperature(temps, &object))
+            printf("otp538u_get_object_temperature() failed\n");
+        else
+            printf("Ambient temp: %f C, Object temp: %f C\n",
+                   ambient, object);
+
+        printf("\n");
+        upm_delay(1);
+    }
+
+    printf("Exiting\n");
+
+    otp538u_close(temps);
+
+//! [Interesting]
+    return 0;
+}

src/otp538u/CMakeLists.txt

@@ -1,5 +1,9 @@
-set (libname "otp538u")
+upm_mixed_module_init (NAME otp538u
-set (libdescription "Otp538u IR temperature sensor")
+    DESCRIPTION "OTP538U Analog IR temperature sensor"
-set (module_src ${libname}.cxx)
+    C_HDR otp538u.h
-set (module_hpp ${libname}.hpp)
+    C_SRC otp538u.c
-upm_module_init()
+    CPP_HDR otp538u.hpp
+    CPP_SRC otp538u.cxx
+    FTI_SRC otp538u_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/otp538u/otp538u.c

@@ -0,0 +1,374 @@
+/*
+ * 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 <assert.h>
+#include <string.h>
+
+#include <upm_utilities.h>
+#include <upm_platform.h>
+
+#include <otp538u.h>
+
+#include "thermopile_vt_table.h"
+#include "thermister_rt_table.h"
+
+
+// To save memory space, we disable debugging on non-linux platforms
+// by default (Zephyr).  For other systems, enable as desired/possible.
+#if defined(UPM_PLATFORM_LINUX)
+# define OTP538U_DEBUG_ENABLED
+#endif // UPM_PLATFORM_LINUX
+
+otp538u_context otp538u_init(int pinA, int pinO, float aref)
+{
+    otp538u_context dev =
+        (otp538u_context)malloc(sizeof(struct _otp538u_context));
+
+    if (!dev)
+        return NULL;
+
+    memset((void *)dev, 0, sizeof(struct _otp538u_context));
+
+    // make sure MRAA is initialized
+    int mraa_rv;
+    if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
+    {
+        printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
+        otp538u_close(dev);
+        return NULL;
+    }
+
+    // initialize the MRAA contexts
+
+    if (!(dev->aioA = mraa_aio_init(pinA)))
+    {
+        printf("%s: mraa_aio_init(pinA) failed.\n", __FUNCTION__);
+        otp538u_close(dev);
+
+        return NULL;
+    }
+
+    if (!(dev->aioO = mraa_aio_init(pinO)))
+    {
+        printf("%s: mraa_aio_init(pinO) failed.\n", __FUNCTION__);
+        otp538u_close(dev);
+
+        return NULL;
+    }
+
+    // for subplatforms like the Arduino 101 with Firmata, we need to
+    // limit ADC resolution to 10b currently.  For this sensor
+    // unfortunately, this means readings will be less accurate.  This
+    // sensor really does need to measure with about 1mV accuracy.
+    const int adcHighRes = 4095;
+    const int adcLowRes = 1023;
+
+    bool isSubplatform = false;
+
+    dev->debug = false;
+
+    if (pinA >= 512 || pinO >= 512)
+        isSubplatform = true;
+
+    // this is the internal voltage reference on the Grove IR temp
+    // sensor module for the thermistor.
+
+    dev->internalVRef = 2.5;
+
+    // analog reference in use
+    dev->aref = aref;
+
+    // This is the value of the output resistor of the Grove IR
+    // temp sensor's SIG2 output (ambient)
+    dev->vResistance = 2000000;      // 2M ohms
+
+    // This was the default offset voltage in the seeedstudio code.  You
+    // can adjust as neccessary depending on your calibration.
+    dev->offsetVoltage = 0.014;
+
+    // We need around 1mV resolution (preferred), so use 12 bit
+    // resolution (4096) if we can.
+    //
+    // This logic is over complicated due to the fact that it is
+    // currently difficult to determine exactly what the capabilities of
+    // the platform (sub or otherwise) actually are.  So for
+    // subplatforms, we always limit to 1024.  Otherwise, we try 12b if
+    // the mraa_adc_raw_bits() says we can, though this isn't
+    // particularly accurate either, as it reports that the G2 can do
+    // 12b, when in reality it can not.  We are just lucky that it works
+    // anyway (ie: will give 12b resolution, though underneath it's just
+    // scaling the real 10b value.).  Sigh.  But trying 12b resolution
+    // on the 101 via firmata will definitely break things, so don't
+    // even try until whatever the problem it has with 12b is fixed.
+    if (isSubplatform)
+    {
+        dev->adcResolution = adcLowRes; // 10b
+    }
+    else
+    {
+        if (mraa_adc_raw_bits() == 12)
+            dev->adcResolution = adcHighRes; // 12b
+        else
+            dev->adcResolution = adcLowRes; // 10b
+    }
+
+    // notify the user
+    if (dev->adcResolution == adcLowRes)
+        printf("Using 10 bit ADC resolution.  Values will be less accurate.\n");
+
+    // enable 12 bit resolution, if we can
+    if (dev->adcResolution == adcHighRes)
+        mraa_aio_set_bit(dev->aioA, 12);
+
+    if (dev->adcResolution == adcHighRes)
+        mraa_aio_set_bit(dev->aioO, 12);
+
+    if (isSubplatform)
+    {
+        // The first analog read always seems to return 0 on the 101
+        // with firmata, so just do a couple of reads here and discard
+        // them.  Then sleep for half a second.  THIS IS A HACK.  The
+        // real problem should be fixed elsewhere (Firmata?).
+        mraa_aio_read(dev->aioA);
+        mraa_aio_read(dev->aioO);
+
+        upm_delay_ms(500);
+    }
+
+    return dev;
+}
+
+void otp538u_close(otp538u_context dev)
+{
+    assert(dev != NULL);
+
+    if (dev->aioA)
+        mraa_aio_close(dev->aioA);
+    if (dev->aioO)
+        mraa_aio_close(dev->aioO);
+
+    free(dev);
+}
+
+upm_result_t otp538u_get_ambient_temperature(const otp538u_context dev,
+                                             float *temperature)
+{
+    assert(dev != NULL);
+
+    const int samples = 5;
+    int val = 0;
+    float temp = 0;
+    float res = 0;
+
+    for (int i=0; i<samples; i++)
+    {
+        val = mraa_aio_read(dev->aioA);
+        if (val == -1)
+        {
+            printf("%s: mraa_aio_read() failed.\n", __FUNCTION__);
+            return UPM_ERROR_OPERATION_FAILED;
+        }
+
+        temp += (float)val;
+        upm_delay_ms(10);
+    }
+    temp = temp / samples;
+
+    float volts = temp * dev->aref / dev->adcResolution;
+
+#if defined(OTP538U_DEBUG_ENABLED)
+    if (dev->debug)
+    {
+        printf("\tAMB sample %f aref %f volts %f\n", temp, dev->aref,
+               volts);
+    }
+#endif // OTP538U_DEBUG_ENABLED
+
+    // compute the resistance of the thermistor
+    res = dev->vResistance * volts / (dev->internalVRef - volts);
+
+#if defined(OTP538U_DEBUG_ENABLED)
+    if (dev->debug)
+    {
+        printf("\tAMB computed resistance: %f\n", res);
+    }
+#endif // OTP538U_DEBUG_ENABLED
+
+    // look it up in the thermistor (RT) resistence/temperature table
+    int rawslot;
+    int j;
+    for (j=0; j<otp538u_rt_table_max; j++)
+        if (otp538u_rt_table[j] < res)
+        {
+            rawslot = j;
+            break;
+        }
+
+    if (j >= otp538u_rt_table_max)
+    {
+        printf("%s: Ambient temperature out of range (high)\n", __FUNCTION__);
+        return UPM_ERROR_OUT_OF_RANGE;
+    }
+
+    // we need to compensate for the fact that we are supporting
+    // temperature values less than 0 (-20C), so adjust correspondingly
+    // so that we obtain the correct temperature 'slot'.  This will be
+    // our base temperature.
+    int slot = rawslot - 20;
+
+    // too cold
+    if (slot < 0)
+    {
+        printf("%s: Ambient temperature out of range (low)\n", __FUNCTION__);
+        return UPM_ERROR_OUT_OF_RANGE;
+    }
+
+    // now compute the ambient temperature
+    float ambientTemp = slot - 1 +
+        (otp538u_rt_table[rawslot - 1]-res) / (otp538u_rt_table[rawslot - 1] -
+                                               otp538u_rt_table[rawslot]);
+
+    *temperature = ambientTemp;
+    return UPM_SUCCESS;
+}
+
+upm_result_t otp538u_get_object_temperature(const otp538u_context dev,
+                                            float *temperature)
+{
+    assert(dev != NULL);
+
+    const int samples = 5;
+    const float reference_vol = 0.5; // what is this value? (from seeedstudio)
+    const float tempIncrement = 10.0;
+    int val = 0;
+    float temp = 0;
+
+    float ambTemp = 0.0;
+    if (otp538u_get_ambient_temperature(dev, &ambTemp))
+        return UPM_ERROR_OPERATION_FAILED;
+
+    for (int i=0; i<samples; i++)
+    {
+        val = mraa_aio_read(dev->aioO);
+        if (val == -1)
+        {
+            printf("%s: mraa_aio_read() failed.\n", __FUNCTION__);
+            return UPM_ERROR_OPERATION_FAILED;
+        }
+        temp += val;
+        upm_delay_ms(10);
+    }
+
+    temp = temp / samples;
+
+#if defined(OTP538U_DEBUG_ENABLED)
+    if (dev->debug)
+        printf("\tOBJ sample %f ", temp);
+#endif // OTP538U_DEBUG_ENABLED
+
+    float volts = temp * dev->aref / dev->adcResolution;
+
+#if defined(OTP538U_DEBUG_ENABLED)
+    if (dev->debug)
+        printf("VOLTS: %f ", volts);
+#endif // OTP538U_DEBUG_ENABLED
+
+    float sensorVolts = volts - (reference_vol + dev->offsetVoltage);
+
+#if defined(OTP538U_DEBUG_ENABLED)
+    if (dev->debug)
+        printf("Sensor Voltage (computed): %f\n", sensorVolts);
+#endif // OTP538U_DEBUG_ENABLED
+
+    // search the VT (voltage/temperature) table to find the object
+    // temperature.
+    int slot;
+    // add +2 to compensate for the -20C and -10C slots below zero
+    int voltOffset = (int)(ambTemp / 10) + 1 + 2;
+    float voltage = sensorVolts * 10.0;
+    for (slot=0; slot<(otp538u_vt_table_max - 1); slot++)
+    {
+        if ( (voltage > otp538u_vt_table[slot][voltOffset]) &&
+             (voltage < otp538u_vt_table[slot+1][voltOffset]) )
+        {
+            break;
+        }
+    }
+
+    if (slot >= (otp538u_vt_table_max - 1))
+    {
+        printf("%s: Object temperature out of range (high)\n", __FUNCTION__);
+        return UPM_ERROR_OUT_OF_RANGE;
+    }
+
+    float objTemp = ((float)tempIncrement * voltage) /
+        ( otp538u_vt_table[slot + 1][voltOffset] -
+          otp538u_vt_table[slot][voltOffset] );
+
+#if defined(OTP538U_DEBUG_ENABLED)
+    if (dev->debug)
+    {
+        printf("\tVoltage (%f): TABLE VALUE [%d][%d] = %f\n", voltage,
+               slot, voltOffset, otp538u_vt_table[slot][voltOffset]);
+    }
+#endif // OTP538U_DEBUG_ENABLED
+
+    *temperature = ambTemp + objTemp;
+    return UPM_SUCCESS;
+}
+
+void otp538u_set_voltage_offset(const otp538u_context dev, float offset)
+{
+    assert(dev != NULL);
+
+    dev->offsetVoltage = offset;
+}
+
+void otp538u_set_output_resistence(const otp538u_context dev,
+                                   int resistance)
+{
+    assert(dev != NULL);
+
+    dev->vResistance = resistance;
+}
+
+void otp538u_set_ivref(const otp538u_context dev, float vref)
+{
+    assert(dev != NULL);
+
+    dev->internalVRef = vref;
+}
+
+void otp538u_set_debug(const otp538u_context dev, bool enable)
+{
+    assert(dev != NULL);
+
+    dev->debug = enable;
+
+#if !defined(UPM_PLATFORM_LINUX) && !defined(OTP538U_DEBUG_ENABLED)
+    if (enable)
+        printf("%s: Debugging not enabled at compilation time.\n",
+               __FUNCTION__);
+#endif // !UPM_PLATFORM_LINUX && !OTP538U_DEBUG_ENABLED
+}

src/otp538u/otp538u.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2015-2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -28,258 +28,40 @@
 
 #include "otp538u.hpp"
 
-#include "thermopile_vt_table.hpp"
-#include "thermister_rt_table.hpp"
-
 using namespace upm;
 using namespace std;
 
-OTP538U::OTP538U(int pinA, int pinO, float aref)
+OTP538U::OTP538U(int pinA, int pinO, float aref) :
+    m_otp538u(otp538u_init(pinA, pinO, aref))
 {
-  const int adcHighRes = 4095;
+    if (!m_otp538u)
-  const int adcLowRes = 1023;
+        throw std::runtime_error(std::string(__FUNCTION__) +
-
+                                 ": otp538u_init() failed");
-  // for subplatforms like the Arduino 101, we need to limit ADC
-  // resolution to 10b currently.  For this sensor unfortunately, this
-  // means readings will be less accurate.  This sensor really does
-  // need to measure with about 1mV accuracy.
-  bool isSubplatform = false;
-
-  m_debug = false;
-
-  if (pinA >= 512 || pinO >= 512)
-    isSubplatform = true;
-
-  // this is the internal voltage reference on the Grove IR temp
-  // sensor module for the thermistor.
-
-  m_internalVRef = 2.5;
-
-  // analog reference in use
-  m_aref = aref;
-
-  // This is the value of the output resistor of the Grove IR
-  // temp sensor's SIG2 output (ambient)
-  m_vResistance = 2000000;      // 2M ohms
-
-  // This was the default offset voltage in the seeedstudio code.  You
-  // can adjust as neccessary depending on your calibration.
-  m_offsetVoltage = 0.014;
-
-  // We need around 1mV resolution (preferred), so use 12 bit
-  // resolution (4096) if we can.
-  //
-  // This logic is over complicated due to the fact that it is
-  // currently difficult to determine exactly what the capabilities of
-  // the platform (sub or otherwise) actually are.  So for
-  // subplatforms, we always limit to 1024.  Otherwise, we try 12b if
-  // the mraa_adc_raw_bits() says we can, though this isn't
-  // particularly accurate either, as it reports that the G2 can do
-  // 12b, when in reality it can not.  We are just lucky that it works
-  // anyway (ie: will give 12b resolution, though underneath it's just
-  // scaling the real 10b value.).  Sigh.  But trying 12b resolution
-  // on the 101 via firmata will definitely break things, so don't
-  // even try until whatever the problem it has with 12b is fixed.
-  if (isSubplatform)
-    {
-      m_adcResolution = adcLowRes; // 10b
-    }
-  else
-    {
-      if (mraa_adc_raw_bits() == 12)
-        m_adcResolution = adcHighRes; // 12b
-      else
-        m_adcResolution = adcLowRes; // 10b
-    }
-
-  // notify the user
-  if (m_adcResolution == adcLowRes)
-    cerr << "Using 10 bit ADC resolution.  Values will be less accurate."
-         << endl;
-
-
-  if ( !(m_aioA = mraa_aio_init(pinA)) )
-    {
-      throw std::invalid_argument(std::string(__FUNCTION__) +
-                                  ": mraa_gpio_init(pinA) failed");
-      return;
-    }
-
-  // enable 12 bit resolution, if we can
-  if (m_adcResolution == adcHighRes)
-    mraa_aio_set_bit(m_aioA, 12);
-
-  if ( !(m_aioO = mraa_aio_init(pinO)) )
-    {
-      throw std::invalid_argument(std::string(__FUNCTION__) +
-                                  ": mraa_gpio_init(pinO) failed");
-      return;
-    }
-
-
-  // enable 12 bit resolution, if we can
-  if (m_adcResolution == adcHighRes)
-    mraa_aio_set_bit(m_aioO, 12);
-
-  if (isSubplatform)
-    {
-      // The first analog read always seems to return 0 on the 101
-      // with firmata, so just do a couple of reads here and discard
-      // them.  Then sleep for half a second.  THIS IS A HACK.  The
-      // real problem should be fixed elsewhere (Firmata?).
-      mraa_aio_read(m_aioA);
-      mraa_aio_read(m_aioO);
-
-      usleep(500000);
-    }
 }
 
 OTP538U::~OTP538U()
 {
-  mraa_aio_close(m_aioA);
+    otp538u_close(m_otp538u);
-  mraa_aio_close(m_aioO);
 }
 
 float OTP538U::ambientTemperature()
 {
-  const int samples = 5;
+    float temp = 0;
-  int val = 0;
-  float temp = 0;
-  float res = 0;
 
-  for (int i=0; i<samples; i++)
+    if (otp538u_get_ambient_temperature(m_otp538u, &temp))
-    {
+        throw std::runtime_error(std::string(__FUNCTION__) +
-      val = mraa_aio_read(m_aioA);
+                                 ": otp538u_get_ambient_temperature() failed");
-      if (val == -1) {
-          throw std::runtime_error(std::string(__FUNCTION__) +
-                                   ": failed to do aio read");
-      }
-      temp += (float)val;
-      usleep(10000);
-    }
-  temp = temp / samples;
 
-  float volts = temp * m_aref / m_adcResolution;
+    return temp;
-  if (m_debug)
-    {
-      cerr << "\tAMB sample " << temp << " m_aref " << m_aref
-           << " VOLTS " << volts << endl;
-    }
-
-  // compute the resistance of the thermistor
-  res = m_vResistance * volts / (m_internalVRef - volts);
-
-  if (m_debug)
-    {
-      cerr << "\tAMB computed resistance: " << res << endl;
-    }
-
-  // look it up in the thermistor (RT) resistence/temperature table
-  int rawslot;
-  int j;
-  for (j=0; j<otp538u_rt_table_max; j++)
-    if (otp538u_rt_table[j] < res)
-      {
-        rawslot = j;
-        break;
-      }
-
-  if (j >= otp538u_rt_table_max)
-    {
-      throw std::out_of_range(std::string(__FUNCTION__) +
-                              ": ambient temperature out of range (high).");
-      return 0;
-    }
-
-  // we need to compensate for the fact that we are supporting
-  // temperature values less than 0 (-20C), so adjust correspondingly
-  // so that we obtain the correct temperature 'slot'.  This will be
-  // our base temperature.
-  int slot = rawslot - 20;
-  
-  // too cold
-  if (slot < 0)
-    {
-      throw std::out_of_range(std::string(__FUNCTION__) +
-                              ": ambient temperature out of range (low).");
-      return 0;
-    }
-
-  // now compute the ambient temperature
-  float ambientTemp = slot - 1 +
-    (otp538u_rt_table[rawslot - 1]-res) / (otp538u_rt_table[rawslot - 1] - 
-                                           otp538u_rt_table[rawslot]);
-  
-  return ambientTemp;
 }
 
 float OTP538U::objectTemperature()
 {
-  const int samples = 5;
+    float temp = 0;
-  const float reference_vol= 0.5; // what is this value? (from seeedstudio)
-  const float tempIncrement=10;
-  int val = 0;
-  float temp = 0;
-  float ambTemp = ambientTemperature();
-  
-  for (int i=0; i<samples; i++)
-    {
-      val = mraa_aio_read(m_aioO);
-      if (val == -1) {
-          throw std::runtime_error(std::string(__FUNCTION__) +
-                                               ": failed to do aio read.");
-          return 0;
-      }
-      temp += val;
-      usleep(10000);
-    }
 
-  temp = temp / samples;
+    if (otp538u_get_object_temperature(m_otp538u, &temp))
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                                 ": otp538u_get_object_temperature() failed");
 
-  if (m_debug)
+    return temp;
-    cerr << "\tOBJ sample " << temp << " ";
-
-  float volts = temp * m_aref / m_adcResolution;
-
-  if (m_debug)
-    cerr << "VOLTS: " << volts << " ";
-
-  float sensorVolts = volts - (reference_vol + m_offsetVoltage);
-
-  if (m_debug)
-    cerr << "Sensor Voltage (computed): " << sensorVolts << endl;
-
-  // search the VT (voltage/temperature) table to find the object
-  // temperature.
-  int slot;
-  // add +2 to compensate for the -20C and -10C slots below zero
-  int voltOffset = int(ambTemp / 10) + 1 + 2;
-  float voltage = sensorVolts * 10.0;
-  for (slot=0; slot<(otp538u_vt_table_max - 1); slot++)		
-    {
-      if ( (voltage > otp538u_vt_table[slot][voltOffset]) &&
-           (voltage < otp538u_vt_table[slot+1][voltOffset]) )
-        {
-          break;
-        }
-    }
-
-  if (slot >= (otp538u_vt_table_max - 1))
-    {
-      throw std::out_of_range(std::string(__FUNCTION__) +
-                              ": object temperature out of range.");
-      return 0;
-    }
-
-  float objTemp = (float(tempIncrement) * voltage) /
-    ( otp538u_vt_table[slot + 1][voltOffset] - 
-      otp538u_vt_table[slot][voltOffset] );    
-
-  if (m_debug)
-    {
-      cerr << "\tVoltage (" << voltage << "): TABLE VALUE [" << slot << "][" <<
-        voltOffset << "] = " << otp538u_vt_table[slot][voltOffset] << endl;
-    }
-
-  return (ambTemp + objTemp);
 }

src/otp538u/otp538u.h

@@ -0,0 +1,153 @@
+/*
+ * 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.
+ */
+#pragma once
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <upm.h>
+#include <mraa/aio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /**
+     * @file otp538u.h
+     * @library otp538u
+     * @brief C API for the OTP538U IR Temperature Sensor
+     *
+     * @include otp538u.c
+     */
+
+    /**
+     * device context
+     */
+    typedef struct _otp538u_context
+    {
+        mraa_aio_context aioA;
+        mraa_aio_context aioO;
+
+        bool             debug;
+        float            internalVRef;
+        float            aref;
+        int              vResistance;
+        float            offsetVoltage;
+        int              adcResolution;
+    } *otp538u_context;
+
+
+    /**
+     * OTP538U constructor
+     *
+     * @param pinA Analog pin to use for the ambient temperature
+     * @param pinO Analog pin to use for the object temperature
+     * @param aref Analog reference voltage
+     * @return intialized context, or NULL if error
+     */
+    otp538u_context otp538u_init(int pinA, int pinO, float aref);
+
+    /**
+     * OTP538U destructor
+     *
+     * @param dev Device context
+     */
+    void otp538u_close(otp538u_context dev);
+
+    /**
+     * Gets the ambient temperature in Celsius
+     *
+     * @param dev Device context
+     * @param temp Ambient temperature
+     * @return UPM status
+     */
+    upm_result_t otp538u_get_ambient_temperature(const otp538u_context dev,
+                                                 float *temperature);
+
+    /**
+     * Gets the object temperature in Celsius
+     *
+     * @param dev Device context
+     * @param temp Object temperature
+     * @return UPM status
+     */
+    upm_result_t otp538u_get_object_temperature(const otp538u_context dev,
+                                                float *temperature);
+
+    /**
+     * Sets the offset voltage
+     *
+     * The Seeed Studio wiki gives an example of calibrating the sensor
+     * and calculating the offset voltage to apply. Currently, the
+     * default value is set, but you can use the function to set one
+     * of your own.
+     *
+     * @param dev Device context
+     * @param vOffset Desired offset voltage
+     */
+    void otp538u_set_voltage_offset(const otp538u_context dev, float offset);
+
+    /**
+     * Sets the output resistance value
+     *
+     * The Seeed Studio wiki example uses a value of 2,000,000 in one of
+     * the equations used to calculate voltage. The value is the
+     * resistance of a resistor they use in the output stage of their
+     * SIG2 output. This was 'decoded' by looking at the EAGLE* files
+     * containing their schematics for this device.
+     *
+     * @param dev Device context
+     * @param outResistance Value of the output resistor; default is 2M Ohm
+     */
+    void otp538u_set_output_resistence(const otp538u_context dev,
+                                       int resistance);
+
+    /**
+     * Sets the reference voltage of the internal Seeed Studio voltage
+     * regulator on the sensor board.
+     *
+     * The Seeed Studio wiki example uses a value of 2.5 in one of the
+     * equations used to calculate the resistance of the ambient
+     * thermistor. The value is the voltage of an internal voltage
+     * regulator used on the sensor board. This was 'decoded' by
+     * looking at the EAGLE files containing their schematics for this
+     * device.
+     *
+     * @param dev Device context
+     * @param vref Reference voltage of the internal sensor; default
+     * is 2.5
+     */
+    void otp538u_set_ivref(const otp538u_context dev, float vref);
+
+    /**
+     * Enable debugging output (linux platforms only).
+     *
+     * @param dev Device context
+     * @param true to enable some debug output, false otherwise
+     */
+    void otp538u_set_debug(const otp538u_context dev, bool enable);
+
+
+#ifdef __cplusplus
+}
+#endif

src/otp538u/otp538u.hpp

@@ -1,6 +1,6 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2015-2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -24,144 +24,148 @@
 #pragma once
 
 #include <string>
-#include <mraa/aio.h>
+#include <otp538u.h>
 
 namespace upm {
 
-  /**
-   * @brief OTP538U IR Temperature Sensor library
-   * @defgroup otp538u libupm-otp538u
-   * @ingroup seeed analog light hak
-   */
-  /**
-   * @library otp538u
-   * @sensor otp538u
-   * @comname OTP538U IR Temperature Sensor
-   * @altname Grove IR Temperature Sensor
-   * @type light
-   * @man generic
-   * @con analog
-   * @kit hak
-   *
-   * @brief API for the OTP538U IR Temperature Sensor
-   *
-   * UPM module for the OTP538U IR temperature sensor
-   *
-   * This module was tested with the Grove IR non-contact temperature
-   * sensor.
-   *
-   * The sensor provides 2 analog outputs: one for the thermistor
-   * that measures the ambient temperature, and the other for the thermopile
-   * that measures the object temperature.
-   *
-   * Much of the code depends on analyzing Seeed Studio* examples
-   * and the circuit design. As a result, there are several 'magic'
-   * numbers derived from their circuit design. These values are used
-   * by default.
-   *
-   * The tables used came from the "538U VT
-   * Table__20_200(v1.3).pdf" and "538RT_table.pdf" datasheets.
-   *
-   * These tables assume the object to be measured is 9 cm (3.54
-   * inches) from the sensor.
-   *
-   * This sensor will not work at 3.3v on the Edsion or the Galileo 2.
-   * It works fine on both systems at 5v.  It will work at 3.3v on the
-   * Arduino 101 (tested via firmata subplatform on edison).
-   *
-   * @image html otp538u.jpg
-   * @snippet otp538u.cxx Interesting
-   */
-  class OTP538U {
-  public:
     /**
-     * OTP538U constructor
+     * @brief OTP538U IR Temperature Sensor library
-     *
+     * @defgroup otp538u libupm-otp538u
-     * @param pinA Analog pin to use for the ambient temperature
+     * @ingroup seeed analog light hak
-     * @param pinO Analog pin to use for the object temperature
-     * @param aref Analog reference voltage; default is 5.0 V
      */
-    OTP538U(int pinA, int pinO, float aref = 5.0);
-
     /**
-     * OTP538U destructor
+     * @library otp538u
+     * @sensor otp538u
+     * @comname OTP538U IR Temperature Sensor
+     * @altname Grove IR Temperature Sensor
+     * @type light
+     * @man generic
+     * @con analog
+     * @kit hak
+     *
+     * @brief API for the OTP538U IR Temperature Sensor
+     *
+     * UPM module for the OTP538U IR temperature sensor
+     *
+     * This module was tested with the Grove IR non-contact temperature
+     * sensor.
+     *
+     * The sensor provides 2 analog outputs: one for the thermistor
+     * that measures the ambient temperature, and the other for the thermopile
+     * that measures the object temperature.
+     *
+     * Much of the code depends on analyzing Seeed Studio* examples
+     * and the circuit design. As a result, there are several 'magic'
+     * numbers derived from their circuit design. These values are used
+     * by default.
+     *
+     * The tables used came from the "538U VT
+     * Table__20_200(v1.3).pdf" and "538RT_table.pdf" datasheets.
+     *
+     * These tables assume the object to be measured is 9 cm (3.54
+     * inches) from the sensor.
+     *
+     * This sensor will not work at 3.3v on the Edsion or the Galileo 2.
+     * It works fine on both systems at 5v.  It will work at 3.3v on the
+     * Arduino 101 (tested via firmata subplatform on edison).
+     *
+     * @image html otp538u.jpg
+     * @snippet otp538u.cxx Interesting
      */
-    ~OTP538U();
+    class OTP538U {
+    public:
+        /**
+         * OTP538U constructor
+         *
+         * @param pinA Analog pin to use for the ambient temperature
+         * @param pinO Analog pin to use for the object temperature
+         * @param aref Analog reference voltage; default is 5.0 V
+         */
+        OTP538U(int pinA, int pinO, float aref = 5.0);
 
-    /**
+        /**
-     * Gets the ambient temperature in Celsius
+         * OTP538U destructor
-     *
+         */
-     * @return Ambient temperature
+        ~OTP538U();
-     */
-    float ambientTemperature();
 
-    /**
+        /**
-     * Gets the object temperature in Celsius
+         * Gets the ambient temperature in Celsius
-     *
+         *
-     * @return Object temperature
+         * @return Ambient temperature
-     */
+         */
-    float objectTemperature();
+        float ambientTemperature();
 
-    /**
+        /**
-     * Sets the offset voltage
+         * Gets the object temperature in Celsius
-     *
+         *
-     * The Seeed Studio wiki gives an example of calibrating the sensor
+         * @return Object temperature
-     * and calculating the offset voltage to apply. Currently, the
+         */
-     * default value is set, but you can use the function to set one
+        float objectTemperature();
-     * of your own.
-     *
-     * @param vOffset Desired offset voltage
-     */
-    void setVoltageOffset(float vOffset) { m_offsetVoltage = vOffset; };
 
-    /**
+        /**
-     * Sets the output resistance value
+         * Sets the offset voltage
-     *
+         *
-     * The Seeed Studio wiki example uses a value of 2,000,000 in one of
+         * The Seeed Studio wiki gives an example of calibrating the sensor
-     * the equations used to calculate voltage. The value is the
+         * and calculating the offset voltage to apply. Currently, the
-     * resistance of a resistor they use in the output stage of their
+         * default value is set, but you can use the function to set one
-     * SIG2 output. This was 'decoded' by looking at the EAGLE* files
+         * of your own.
-     * containing their schematics for this device.
+         *
-     *
+         * @param vOffset Desired offset voltage
-     * @param outResistance Value of the output resistor; default is 2M Ohm
+         */
-     */
+        void setVoltageOffset(float vOffset)
-    void setOutputResistence(int outResistance) { 
+        {
-      m_vResistance = outResistance; };
+            otp538u_set_voltage_offset(m_otp538u, vOffset);
+        };
 
-    /**
+        /**
-     * Sets the reference voltage of the internal Seeed Studio voltage
+         * Sets the output resistance value
-     * regulator on the sensor board.
+         *
-     *
+         * The Seeed Studio wiki example uses a value of 2,000,000 in one of
-     * The Seeed Studio wiki example uses a value of 2.5 in one of the
+         * the equations used to calculate voltage. The value is the
-     * equations used to calculate the resistance of the ambient
+         * resistance of a resistor they use in the output stage of their
-     * thermistor. The value is the voltage of an internal voltage
+         * SIG2 output. This was 'decoded' by looking at the EAGLE* files
-     * regulator used on the sensor board. This was 'decoded' by
+         * containing their schematics for this device.
-     * looking at the EAGLE files containing their schematics for this
+         *
-     * device.
+         * @param outResistance Value of the output resistor; default is 2M Ohm
-     *
+         */
-     * @param vref Reference voltage of the internal sensor; default
+        void setOutputResistence(int outResistance)
-     * is 2.5
+        {
-     */
+            otp538u_set_output_resistence(m_otp538u, outResistance);
-    void setVRef(float vref) { m_internalVRef = vref; };
+        };
 
-    /**
+        /**
-     * Enable debugging output.
+         * Sets the reference voltage of the internal Seeed Studio voltage
-     *
+         * regulator on the sensor board.
-     * @param true to enable some debug output, false otherwise
+         *
-     */
+         * The Seeed Studio wiki example uses a value of 2.5 in one of the
-    void setDebug(bool enable) { m_debug = enable; };
+         * equations used to calculate the resistance of the ambient
+         * thermistor. The value is the voltage of an internal voltage
+         * regulator used on the sensor board. This was 'decoded' by
+         * looking at the EAGLE files containing their schematics for this
+         * device.
+         *
+         * @param vref Reference voltage of the internal sensor; default
+         * is 2.5
+         */
+        void setVRef(float vref)
+        {
+            otp538u_set_ivref(m_otp538u, vref);
+        };
+
+        /**
+         * Enable debugging output.
+         *
+         * @param true to enable some debug output, false otherwise
+         */
+        void setDebug(bool enable)
+        {
+            otp538u_set_debug(m_otp538u, enable);
+        };
 
 
-  private:
+    protected:
-    bool m_debug;
+        otp538u_context m_otp538u;
-    float m_internalVRef;
+    };
-    float m_aref;
-    int m_vResistance;
-    float m_offsetVoltage;
-    int m_adcResolution;
-    mraa_aio_context m_aioA;
-    mraa_aio_context m_aioO;
-  };
 }
 
 

src/otp538u/otp538u_fti.c

@@ -0,0 +1,116 @@
+/*
+ * 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 "otp538u.h"
+
+#include "upm_fti.h"
+#include "upm_sensor.h"
+
+/**
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_otp538u_name[] = "OTP538U";
+const char upm_otp538u_description[] = "IR Temperature Sensor";
+const upm_protocol_t upm_otp538u_protocol[] = {UPM_ANALOG, UPM_ANALOG};
+const upm_sensor_t upm_otp538u_category[] = {UPM_TEMPERATURE};
+
+// forward declarations
+const upm_sensor_descriptor_t upm_otp538u_get_descriptor();
+const void* upm_otp538u_get_ft(upm_sensor_t sensor_type);
+upm_result_t upm_otp538u_get_value_temperature(void* dev, float* tempval,
+                                               upm_temperature_u unit);
+void* upm_otp538u_init_name();
+void upm_otp538u_close(void* dev);
+
+const upm_sensor_descriptor_t upm_otp538u_get_descriptor() {
+    upm_sensor_descriptor_t usd;
+    usd.name = upm_otp538u_name;
+    usd.description = upm_otp538u_description;
+    usd.protocol_size = 2;
+    usd.protocol = upm_otp538u_protocol;
+    usd.category_size = 1;
+    usd.category = upm_otp538u_category;
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+    .upm_sensor_init_name = &upm_otp538u_init_name,
+    .upm_sensor_close = &upm_otp538u_close,
+    .upm_sensor_get_descriptor = &upm_otp538u_get_descriptor
+};
+
+static const upm_temperature_ft tft =
+{
+    .upm_temperature_get_value = &upm_otp538u_get_value_temperature
+};
+
+const void* upm_otp538u_get_ft(upm_sensor_t sensor_type) {
+    if(sensor_type == UPM_SENSOR) {
+        return &ft;
+    }
+    if(sensor_type == UPM_TEMPERATURE) {
+        return &tft;
+    }
+    return NULL;
+}
+
+void* upm_otp538u_init_name(){
+    return NULL;
+}
+
+void upm_otp538u_close(void* dev)
+{
+    otp538u_close((otp538u_context)dev);
+}
+
+upm_result_t upm_otp538u_get_value_temperature(void* dev, float* tempval,
+                                               upm_temperature_u unit)
+{
+    float temp = 0.0;
+    upm_result_t rv = otp538u_get_object_temperature((otp538u_context)dev,
+                                                     &temp);
+
+    if (rv != UPM_SUCCESS)
+        return rv;
+
+    switch (unit)
+        {
+        case CELSIUS:
+            *tempval = temp;
+            return UPM_SUCCESS;
+
+        case KELVIN:
+            *tempval = temp + 273.15;
+            return UPM_SUCCESS;
+
+        case FAHRENHEIT:
+            *tempval = temp * (9.0/5.0) + 32.0;
+            return UPM_SUCCESS;
+        }
+
+    return UPM_ERROR_INVALID_PARAMETER;
+}

src/otp538u/thermister_rt_table.h

@@ -28,7 +28,7 @@
 
 static const int otp538u_rt_table_max = 121;
 
-static int otp538u_rt_table[otp538u_rt_table_max] = {
+static int otp538u_rt_table[121] = {
   919730, 869299, 821942, 777454, 735644, 696336, 659365, 624578, 591834,
   561002, 531958, 504588, 478788, 454457, 431504, 409843, 389394, 370082,
   351839, 334598, 318300, 302903, 288329, 274533, 261471, 249100, 237381,
@@ -41,6 +41,5 @@ static int otp538u_rt_table[otp538u_rt_table_max] = {
   21202, 20479, 19783, 19115, 18472, 17854, 17260, 16688, 16138, 15608,
   15098, 14608, 14135, 13680, 13242, 12819, 12412, 12020, 11642, 11278,
   10926, 10587, 10260, 9945, 9641, 9347, 9063, 8789, 8525, 8270, 8023,
-  7785, 7555, 7333, 7118, 6911 
+  7785, 7555, 7333, 7118, 6911
 };
- 

src/otp538u/thermopile_vt_table.h

@@ -30,75 +30,74 @@ static const int otp538u_vt_table_max = 23;
 // Thermistor temperature (C)
 // { -20 -10 0 10 20 30 40 50 60 70 80 90 100 }
 
-static float otp538u_vt_table[otp538u_vt_table_max][13] = {
+static float otp538u_vt_table[23][13] = {
-                                                  // object temp (C)  
+                                                  // object temp (C)
-  {0.000, -0.246, -0.523, -0.832, -1.177, -1.559, // -20C 
+  {0.000, -0.246, -0.523, -0.832, -1.177, -1.559, // -20C
    -1.981, -2.446, -2.957, -3.516, -4.126, -4.791, -5.513},
-  
+
   {0.243, 0.000, -0.274, -0.580, -0.922, -1.301, // -10
    -1.721, -2.183, -2.691, -3.247, -3.854, -4.516, -5.236},
-  
+
   {0.511, 0.271, 0.000, -0.303, -0.642, -1.018, // 0
    -1.434, -1.894, -2.398, -2.951, -3.556, -4.215, -4.931},
-  
+
   {0.804, 0.567, 0.300, 0.000, -0.335, -0.708, // 10
    -1.121, -1.577, -2.078, -2.628, -3.229, -3.884, -4.597},
-  
+
   {1.125, 0.891, 0.628, 0.331, 0.000, -0.369, // 20
    -0.778, -1.230, -1.728, -2.274, -2.871, -3.523, -4.232},
-  
+
   {1.474, 1.244, 0.985, 0.692, 0.365, 0.000, // 30
    -0.405, -0.853, -1.347, -1.889, -2.482, -3.130, -3.835},
-  
+
   {1.852, 1.628, 1.372, 1.084, 0.761, 0.401, // 40
    0.000, -0.444, -0.933, -1.470, -2.059, -2.702, -3.403},
-  
+
   {2.263, 2.043, 1.792, 1.509, 1.191, 0.835, // 50
    0.439, 0.000, -0.484, -1.017, -1.601, -2.240, -2.936},
-  
+
   {2.706, 2.491, 2.246, 1.968, 1.655, 1.304, // 60
    0.913, 0.479, 0.000, -0.528, -1.107, -1.740, -2.431},
-  
+
   {3.184, 2.975, 2.735, 2.462, 2.155, 1.809, // 70
    1.424, 0.996, 0.522, 0.000, -0.573, -1.201, -1.887},
-  
+
   {3.698, 3.495, 3.261, 2.994, 2.692, 2.353, // 80
    1.974, 1.552, 1.084, 0.568, 0.000, -0.622, -1.301},
-  
+
   {4.250, 4.053, 3.825, 3.565, 3.270, 2.937, // 90
    2.564, 2.148, 1.687, 1.177, 0.616, 0.000, -0.673},
-  
+
   {4.841, 4.651, 4.430, 4.177, 3.888, 3.562, // 100
    3.196, 2.787, 2.332, 1.829, 1.275, 0.666, 0.000},
-  
+
   {5.473, 5.290, 5.076, 4.830, 4.549, 4.231, // 110
    3.872, 3.470, 3.023, 2.527, 1.980, 1.379, 0.720},
-  
+
   {6.147, 5.972, 5.767, 5.528, 5.255, 4.944, // 120
    4.593, 4.199, 3.760, 3.272, 2.733, 2.139, 1.488},
-  
+
   {6.866, 6.699, 6.502, 6.272, 6.007, 5.705, // 130
    5.362, 4.976, 4.545, 4.066, 3.535, 2.950, 2.307},
-  
+
   {7.631, 7.473, 7.285, 7.064, 6.808, 6.514, // 140
    6.180, 5.803, 5.381, 4.910, 4.388, 3.812, 3.178},
-  
+
   {8.444, 8.295, 8.116, 7.905, 7.658, 7.373, // 150
    7.049, 6.682, 6.269, 5.807, 5.295, 4.728, 4.103},
-  
+
   {9.306, 9.167, 8.998, 8.796, 8.560, 8.285, // 160
    7.971, 7.613, 7.211, 6.759, 6.257, 5.700, 5.085},
-  
+
   {10.219, 10.091, 9.933, 9.741, 9.515, 9.251, // 170
    8.947, 8.601, 8.208, 7.768, 7.276, 6.729, 6.125},
-  
+
   {11.185, 11.068, 10.921, 10.741, 10.526, 10.274, // 180
    9.981, 9.645, 9.264, 8.835, 8.354, 7.818, 7.226},
-  
+
   {12.206, 12.101, 11.966, 11.798, 11.595, 11.354, // 190
    11.073, 10.749, 10.380, 9.962, 9.493, 8.969, 8.388},
-  
+
   {13.284, 13.191, 13.068, 12.913, 12.722, 12.494, // 200
    12.225, 11.914, 11.557, 11.152, 10.695, 10.184, 9.616}
 };
-