maxsonarez: Initial implementation

The module supports the LV-MaxSonar EZ1, EZ2, EZ3 and EZ4 ultrasonic
range finders.  It was developed and tested on the EZ3 variant.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/c++/CMakeLists.txt

@@ -116,6 +116,7 @@ add_executable (grovewfs-example grovewfs.cxx)
 add_executable (isd1820-example isd1820.cxx)
 add_executable (sx6119-example sx6119.cxx)
 add_executable (si114x-example si114x.cxx)
+add_executable (maxsonarez-example maxsonarez.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -210,6 +211,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/grovewfs)
 include_directories (${PROJECT_SOURCE_DIR}/src/isd1820)
 include_directories (${PROJECT_SOURCE_DIR}/src/sx6119)
 include_directories (${PROJECT_SOURCE_DIR}/src/si114x)
+include_directories (${PROJECT_SOURCE_DIR}/src/maxsonarez)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -327,3 +329,4 @@ target_link_libraries (grovewfs-example grovewfs ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (isd1820-example isd1820 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (sx6119-example sx6119 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (si114x-example si114x ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (maxsonarez-example maxsonarez ${CMAKE_THREAD_LIBS_INIT})

examples/c++/maxsonarez.cxx

@@ -0,0 +1,72 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 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 <iostream>
+#include <signal.h>
+#include "maxsonarez.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+#define MAXSONAREZ_AREF   5.0
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  // Instantiate a MaxSonarEZ on analog pin A1, with an analog
+  // reference voltage of MAXSONAREZ_AREF
+  upm::MAXSONAREZ *sonar = new upm::MAXSONAREZ(1, MAXSONAREZ_AREF);
+  
+  // Every second, sample the sonar and output the distance to an
+  // object in inches.
+
+  // With the EZ3 version, the minimum and maximum ranges seemed to be
+  // between 6 and 33 inches
+
+  while (shouldRun)
+    {
+      cout << "AREF: " << MAXSONAREZ_AREF 
+           << ", distance in inches: " << sonar->inches() << endl;
+      
+      sleep(1);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting" << endl;
+
+  delete sonar;
+  return 0;
+}

examples/javascript/maxsonarez.js

@@ -0,0 +1,59 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+/*
+* Author: Jon Trulson <jtrulson@ics.com>
+* Copyright (c) 2015 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.
+*/
+
+// JavaScript example for the MaxSonar-EZ family of ultrasonic range finders
+
+// analog voltage, usually 3.3 or 5.0
+var MAXSONAREZ_AREF = 5.0;
+
+var MaxSonarEZ = require('jsupm_maxsonarez');
+
+// Instantiate a MaxSonar-EZ on analog pin A1, with an analog
+// reference voltage of MAXSONAREZ_AREF
+var mySonar = new MaxSonarEZ.MAXSONAREZ(1, MAXSONAREZ_AREF);
+
+// Every second, sample the sonar and output the distance to an
+// object in inches.
+
+// With the EZ3 version, the minimum and maximum ranges seemed to be
+// between 6 and 33 inches
+
+var myInterval = setInterval(function()
+{
+	console.log("AREF: " + MAXSONAREZ_AREF + 
+                    ", distance in inches: " + mySonar.inches());
+}, 1000);
+
+// Print message when exiting
+process.on('SIGINT', function()
+{
+	clearInterval(myInterval);
+	mySonar = null;
+	MaxSonarEZ.cleanUp();
+	MaxSonarEZ = null;
+	console.log("Exiting...");
+	process.exit(0);
+});

examples/python/maxsonarez.py

@@ -0,0 +1,60 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2015 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.
+
+import time, sys, signal, atexit
+import pyupm_maxsonarez as MaxSonarEZ
+
+# Instantiate a MaxSonar-EZ on analog pin A1, with an analog
+# reference voltage of MAXSONAREZ_AREF
+Sonar = MaxSonarEZ.MAXSONAREZ(1)
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This lets you run code on exit,
+# including functions from Sonar
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+# analog voltage, usually 3.3 or 5.0
+MAXSONAREZ_AREF = 5.0;
+
+# Every second, sample the sonar and output the distance to an
+# object in inches.
+
+# With the EZ3 version, the minimum and maximum ranges seemed to be
+# between 6 and 33 inches
+
+while (1):
+	print "AREF: {0}, distance in inches: {1}".format(
+                MAXSONAREZ_AREF,
+                Sonar.inches())
+	time.sleep(1)

src/maxsonarez/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "maxsonarez")
+set (libdescription "upm MaxSonar EZ family of ultrasonic rangers")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/maxsonarez/jsupm_maxsonarez.i

@@ -0,0 +1,8 @@
+%module jsupm_maxsonarez
+%include "../upm.i"
+
+%{
+    #include "maxsonarez.h"
+%}
+
+%include "maxsonarez.h"

src/maxsonarez/maxsonarez.cxx

@@ -0,0 +1,58 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 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 "maxsonarez.h"
+
+using namespace std;
+using namespace upm;
+
+MAXSONAREZ::MAXSONAREZ(int pin, float aref)
+{
+  if (!(m_aio = mraa_aio_init(pin)))
+    {
+      cerr << __FUNCTION__ << "mraa_aio_init() failed." << endl;
+      return;
+    }
+
+  m_aRes = (1 << mraa_aio_get_bit(m_aio));
+  m_aref = aref;
+
+  // volt's per inch of this sensor
+  m_vI = (m_aref / MAXSONAREZ_RES);
+}
+
+MAXSONAREZ::~MAXSONAREZ()
+{
+  mraa_aio_close(m_aio);
+}
+
+int MAXSONAREZ::inches()
+{
+  int val = mraa_aio_read(m_aio);
+  float volts = float(val) * (m_aref / m_aRes);
+
+  return int(volts / m_vI);
+}

src/maxsonarez/maxsonarez.h

@@ -0,0 +1,97 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 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 <iostream>
+#include <string>
+#include <mraa/aio.h>
+
+// EZ series is volts/512
+#define MAXSONAREZ_RES  512
+
+namespace upm {
+  /**
+   * @brief UPM library for the MaxSonar-EZ family of ultrasonic rangers
+   * @defgroup maxsonarez libupm-maxsonarez
+   * @ingroup seeed analog sound
+   */
+
+  /**
+   * @library maxsonarez
+   * @sensor maxsonarez
+   * @comname LV-MaxSonar-EZ family of ultrasonic rangers
+   * @altname EZ1, EZ2, EZ3, EZ4
+   * @type sound
+   * @man sparkfun
+   * @con analog
+   *
+   * @brief C++ API for the LV-MaxSonar-EZ family of ultrasonic rangers
+   *
+   * This sensor family returns an analog voltage corresponding to the
+   * distance of an object from the sensor in inches.  It has a
+   * resolution of about 9.7 millivolts per inch with a 5.0 AREF.  The
+   * differences between the various versions (EZ1, EZ2, etc) are
+   * related to the narrowness of the beam angle.
+   *
+   * This class supports these sensors with an analog input only.
+   *
+   * This driver was developed using an LV-MaxSonar-EZ3.
+   *
+   * @snippet maxsonarez.cxx Interesting
+   */
+
+  class MAXSONAREZ {
+  public:
+
+    /**
+     * MAXSONAREZ sensor constructor
+     *
+     * @param pin analog pin to use
+     * @param aref the analog reference voltage, default: 5.0
+     */
+    MAXSONAREZ(int pin, float aref=5.0);
+
+    /**
+     * MAXSONAREZ Destructor
+     */
+    ~MAXSONAREZ();
+
+    /**
+     * get the distance to the object in inches
+     *
+     * @return the distance to the object in inches
+     */
+    int inches();
+
+  private:
+    mraa_aio_context m_aio;
+    float m_aref;
+    // ADC resolution
+    int m_aRes;
+    // computed Volts per Inch
+    float m_vI;
+  };
+}
+
+

src/maxsonarez/pyupm_maxsonarez.i

@@ -0,0 +1,9 @@
+%module pyupm_maxsonarez
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "maxsonarez.h"
+%{
+    #include "maxsonarez.h"
+%}