enc03r: C port; FTI; C++ wraps C

The API for this driver has changed.  See docs/apichanges.md.

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

examples/c/CMakeLists.txt

@@ -147,6 +147,7 @@ add_example (speaker)
 add_example (cjq4435)
 add_example (hmc5883l)
 add_example (wfs)
+add_example (enc03r)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

examples/c/enc03r.c

@@ -0,0 +1,90 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014-2017 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 <upm_platform.h>
+
+#include "enc03r.h"
+
+bool shouldRun = true;
+
+// The number of samples used for calibration
+#if defined(UPM_PLATFORM_ZEPHYR)
+# define CALIBRATION_SAMPLES 500
+#else
+# define CALIBRATION_SAMPLES 1000
+#endif
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+    // Instantiate a ENC03R on analog pin A0
+    enc03r_context sensor = enc03r_init(0, 5.0);
+
+    if (!sensor)
+    {
+        printf("%s: enc03r_init() failed\n", __FUNCTION__);
+        return 1;
+    }
+
+    // The first thing we need to do is calibrate the sensor.
+    printf("Please place the sensor in a stable location, and do not\n");
+    printf("move it while calibration takes place.\n");
+    printf("This may take a little time to complete.\n");
+
+    enc03r_calibrate(sensor, CALIBRATION_SAMPLES);
+    printf("Calibration complete.  Reference value: %f\n\n",
+           enc03r_calibration_value(sensor));
+
+    // Read the input and print both the raw value and the angular velocity,
+    // waiting 0.1 seconds between readings
+    while (shouldRun)
+    {
+        enc03r_update(sensor);
+
+        printf("Angular velocity: %f deg/s\n",
+               enc03r_angular_velocity(sensor));
+
+        upm_delay_ms(100);
+    }
+
+    printf("Exiting\n");
+
+    enc03r_close(sensor);
+//! [Interesting]
+    return 0;
+}