gp2y0a21yk: Initial implementation of the gp2y0a21yk 80cm IR proximity sensor

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: Sarah Knepper <sarah.knepper@intel.com>

src/gp2y0a21yk/CMakeLists.txt

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+set (libname "gp2y0a21yk")
+set (libdescription "upm gp2y0a21yk 80cm IR proximity sensor module")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/gp2y0a21yk/gp2y0a21yk.cxx

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+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <iostream>
+
+#include "gp2y0a21yk.h"
+
+using namespace upm;
+
+GP2Y0A21YK::GP2Y0A21YK(int pin)
+{
+  mraa_init();
+
+  m_aio = mraa_aio_init(pin);
+}
+
+GP2Y0A21YK::~GP2Y0A21YK()
+{
+  mraa_aio_close(m_aio);
+}
+
+float GP2Y0A21YK::value(float aref, uint8_t samples)
+{
+  int val;
+  int sum = 0;
+
+  for (int i=0; i<samples; i++)
+    {
+      val = mraa_aio_read(m_aio);
+      sum += val;
+    }
+
+  val = sum / samples;
+  float volts = (float)val * aref / 1024.0;
+
+  return volts;
+}

src/gp2y0a21yk/gp2y0a21yk.h

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+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <string>
+#include <mraa/aio.h>
+
+namespace upm {
+
+  /**
+   * @brief C++ API for the GP2Y0A21YK 80cm IR Proximity Sensor
+   *
+   * UPM module for the GP2Y0A21YK 80cm IR Proximity Sensor.
+   * This sensor returns an analog voltage corresponding to the distance 
+   * of an object from the sensor.  The object may be 10 cm (4 inches)
+   * to 80 cm (30 inches) away.  The voltage is low when objects
+   * are far away; the voltage increases as objects get closer
+   * to the sensor.
+   *
+   * @ingroup analog
+   * @snippet gp2y0a21yk.cxx Interesting
+   */
+  class GP2Y0A21YK {
+  public:
+    /**
+     * GP2Y0A21YK sensor constructor
+     *
+     * @param pin analog pin to use
+     */
+    GP2Y0A21YK(int pin);
+    /**
+     * GP2Y0A21YK Destructor
+     */
+    ~GP2Y0A21YK();
+    /**
+     * Get the averaged voltage value from the sensor
+     *
+     * @param aref the reference voltage in use (5.0 or 3.3 usually)
+     * @param samples number of samples to average over
+     * @return the averaged voltage reading
+     */
+    float value(float aref, uint8_t samples);
+
+  private:
+    mraa_aio_context m_aio;
+  };
+}
+
+

src/gp2y0a21yk/jsupm_gp2y0a21yk.i

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+%module jsupm_gp2y0a21yk
+%include "../upm.i"
+
+%{
+    #include "gp2y0a21yk.h"
+%}
+
+%include "gp2y0a21yk.h"

src/gp2y0a21yk/pyupm_gp2y0a21yk.i

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+%module pyupm_gp2y0a21yk
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "gp2y0a21yk.h"
+%{
+    #include "gp2y0a21yk.h"
+%}