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>

src/maxsonarez/CMakeLists.txt

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+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

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+%module jsupm_maxsonarez
+%include "../upm.i"
+
+%{
+    #include "maxsonarez.h"
+%}
+
+%include "maxsonarez.h"

src/maxsonarez/maxsonarez.cxx

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+/*
+ * 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

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