gp2y0a: renamed from gp2y0a21yk to indicate support for the gp2y0a family

Additionally, add some error checking in the constructor, and determine
the ADC resolution and use that in the voltage calculation rather than
a hardcoded 1024.0.

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

examples/c++/CMakeLists.txt

@@ -59,7 +59,7 @@ add_executable (enc03r-example enc03r.cxx)
 add_executable (adc121c021-example adc121c021.cxx)
 add_executable (ds1307-example ds1307.cxx)
 add_executable (a110x-example a110x.cxx)
-add_executable (gp2y0a21yk-example gp2y0a21yk.cxx)
+add_executable (gp2y0a-example gp2y0a.cxx)
 add_executable (grovemoisture-example grovemoisture.cxx)
 add_executable (groveehr-example groveehr.cxx)
 add_executable (ta12200-example ta12200.cxx)
@@ -151,7 +151,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/enc03r)
 include_directories (${PROJECT_SOURCE_DIR}/src/adc121c021)
 include_directories (${PROJECT_SOURCE_DIR}/src/ds1307)
 include_directories (${PROJECT_SOURCE_DIR}/src/a110x)
-include_directories (${PROJECT_SOURCE_DIR}/src/gp2y0a21yk)
+include_directories (${PROJECT_SOURCE_DIR}/src/gp2y0a)
 include_directories (${PROJECT_SOURCE_DIR}/src/grovemoisture)
 include_directories (${PROJECT_SOURCE_DIR}/src/groveehr)
 include_directories (${PROJECT_SOURCE_DIR}/src/ta12200)
@@ -257,7 +257,7 @@ target_link_libraries (enc03r-example enc03r ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (adc121c021-example adc121c021 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ds1307-example ds1307 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (a110x-example a110x ${CMAKE_THREAD_LIBS_INIT})
-target_link_libraries (gp2y0a21yk-example gp2y0a21yk ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (gp2y0a-example gp2y0a ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (grovemoisture-example grovemoisture ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveehr-example groveehr ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ta12200-example ta12200 ${CMAKE_THREAD_LIBS_INIT})

examples/c++/gp2y0a.cxx

@@ -25,14 +25,14 @@
 #include <unistd.h>
 #include <iostream>
 #include <signal.h>
-#include "gp2y0a21yk.h"
+#include "gp2y0a.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
 // analog voltage, usually 3.3 or 5.0
-#define GP2Y0A21YK_AREF   5.0
+#define GP2Y0A_AREF   5.0
 #define SAMPLES_PER_QUERY 20
 
 void sig_handler(int signo)
@@ -46,21 +46,21 @@ int main()
   signal(SIGINT, sig_handler);
 
 //! [Interesting]
-  // Note, for the Grove version of this sensor, due to the way it is wired,
-  // you need to plug this into the A0 port, where it will use the available
-  // A1 pin for data.
+  // Note, for the Grove 80cm version of this sensor, due to the way
+  // it is wired, you need to plug this into the A0 port, where it
+  // will use the available A1 pin for data.
 
-  // Instantiate a GP2Y0A21YK on analog pin A1
-  upm::GP2Y0A21YK *volts = new upm::GP2Y0A21YK(1);
+  // Instantiate a GP2Y0A on analog pin A1
+  upm::GP2Y0A *volts = new upm::GP2Y0A(1);
   
   // The higher the voltage (closer to AREF) the closer the object is.  NOTE:
   // the measured voltage will probably not exceed 3.3 volts.
   // Every second, print the averaged voltage value (averaged over 20 samples).
   while (shouldRun)
     {
-      cout << "AREF: " << GP2Y0A21YK_AREF 
+      cout << "AREF: " << GP2Y0A_AREF 
            << ", Voltage value (higher means closer): " 
-           << volts->value(GP2Y0A21YK_AREF, SAMPLES_PER_QUERY) << endl;
+           << volts->value(GP2Y0A_AREF, SAMPLES_PER_QUERY) << endl;
       
       sleep(1);
     }

examples/javascript/gp2y0a.js

@@ -1,6 +1,5 @@
 /*jslint node:true, vars:true, bitwise:true, unparam:true */
 /*jshint unused:true */
-/*global */
 /*
 * Author: Zion Orent <zorent@ics.com>
 * Copyright (c) 2014 Intel Corporation.
@@ -24,33 +23,38 @@
 * 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 file for GP2Y0A21YK 80cm IR Proximity Sensor
+// JavaScript file for GP2Y0A family of IR Proximity Sensors
 
 // analog voltage, usually 3.3 or 5.0
-var GP2Y0A21YK_AREF = 5.0;
+var GP2Y0A_AREF = 5.0;
 var SAMPLES_PER_QUERY = 20;
 
-var IRProximity = require('jsupm_gp2y0a21yk');
+var IRProximity = require('jsupm_gp2y0a');
 
-// Note, for the Grove version of this sensor, due to the way it is wired,
+// Note, for the Grove 80cm version of this sensor, due to the way it is wired,
 // you need to plug this into the A0 port, where it will use the available
 // A1 pin for data.
-// Instantiate a GP2Y0A21YK on analog pin A1
-var myVolts = new IRProximity.GP2Y0A21YK(1);
+// Instantiate a GP2Y0A on analog pin A1
+var myVolts = new IRProximity.GP2Y0A(1);
 
 // The higher the voltage (closer to AREF) the closer the object is.
 // NOTE: The measured voltage will probably not exceed 3.3 volts.
-// Every second, print the averaged voltage value (averaged over 20 samples).
-setInterval(function()
+// Every second, print the averaged voltage value
+// (averaged over 20 samples).
+var myInterval = setInterval(function()
 {
-	console.log("AREF: " + GP2Y0A21YK_AREF + 
+	console.log("AREF: " + GP2Y0A_AREF + 
                 ", Voltage value (higher means closer): " + 
-                myVolts.value(GP2Y0A21YK_AREF, SAMPLES_PER_QUERY));
+                myVolts.value(GP2Y0A_AREF, SAMPLES_PER_QUERY));
 }, 1000);
 
 // Print message when exiting
 process.on('SIGINT', function()
 {
+	clearInterval(myInterval);
+	myVolts = null;
+	IRProximity.cleanUp();
+	IRProximity = null;
 	console.log("Exiting...");
 	process.exit(0);
 });

examples/python/gp2y0a.py

@@ -0,0 +1,62 @@
+#!/usr/bin/python
+# Author: Zion Orent <zorent@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_gp2y0a as upmGp2y0a
+
+# Note, for the Grove 80cm version of this sensor, due to the way it is wired,
+# you need to plug this into the A0 port, where it will use the available
+# A1 pin for data.
+# Instantiate a GP2Y0A on analog pin A1
+myIRProximity = upmGp2y0a.GP2Y0A(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 myIRProximity
+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
+GP2Y0A_AREF = 5.0;
+SAMPLES_PER_QUERY = 20;
+
+# The higher the voltage (closer to AREF) the closer the object is.
+# NOTE: The measured voltage will probably not exceed 3.3 volts.
+# Every second, print the averaged voltage value
+# (averaged over 20 samples).
+while (1):
+	print "AREF: {0}, Voltage value (higher means closer): {1}".format(
+	GP2Y0A_AREF,
+	myIRProximity.value(GP2Y0A_AREF, SAMPLES_PER_QUERY))
+	time.sleep(1)

src/gp2y0a/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "gp2y0a")
+set (libdescription "upm gp2y0a family of IR distance detectors")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/gp2y0a/gp2y0a.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2014 Intel Corporation.
+ * 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
@@ -24,23 +24,29 @@
 
 #include <iostream>
 
-#include "gp2y0a21yk.h"
+#include "gp2y0a.h"
 
+using namespace std;
 using namespace upm;
 
-GP2Y0A21YK::GP2Y0A21YK(int pin)
+GP2Y0A::GP2Y0A(int pin)
 {
-  mraa_init();
+  if (!(m_aio = mraa_aio_init(pin)))
+    {
+      cerr << __FUNCTION__ << "mraa_aio_init() failed." << endl;
+      return;
+    }
 
-  m_aio = mraa_aio_init(pin);
+  // get the ADC resolution
+  m_aRes = (1 << mraa_aio_get_bit(m_aio));
 }
 
-GP2Y0A21YK::~GP2Y0A21YK()
+GP2Y0A::~GP2Y0A()
 {
   mraa_aio_close(m_aio);
 }
 
-float GP2Y0A21YK::value(float aref, uint8_t samples)
+float GP2Y0A::value(float aref, uint8_t samples)
 {
   int val;
   int sum = 0;
@@ -52,7 +58,7 @@ float GP2Y0A21YK::value(float aref, uint8_t samples)
     }
 
   val = sum / samples;
-  float volts = (float)val * aref / 1024.0;
+  float volts = float(val) * aref / float(m_aRes);
 
   return volts;
 }

src/gp2y0a/gp2y0a.h

@@ -1,6 +1,6 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2014 Intel Corporation.
+ * 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
@@ -23,36 +23,49 @@
  */
 #pragma once
 
+#include <iostream>
 #include <string>
 #include <mraa/aio.h>
 
 namespace upm {
+  /**
+   * @brief UPM library for the GP2Y0A family of IR Proximity Sensors
+   * @defgroup gp2y0a libupm-gp2y0a
+   * @ingroup seeed analog light
+   */
 
   /**
-   * @brief C++ API for the GP2Y0A21YK 80cm IR Proximity Sensor
+   * @sensor gp2y0a
+   * @library gp2y0a
+   * @name GP2Y0A family of IR Proximity Sensors
+   * @category light
+   * @manufacturer seeed
+   * @connection analog
    *
-   * 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
+   * @brief C++ API for the GP2Y0A family of IR Proximity Sensors
+   *
+   * This sensor family returns an analog voltage corresponding to the distance 
+   * of an object from the sensor.  The voltage is lower when objects
    * are far away; the voltage increases as objects get closer
-   * to the sensor.
+   * to the sensor.  
    *
-   * @ingroup analog
-   * @snippet gp2y0a21yk.cxx Interesting
+   * @snippet gp2y0a.cxx Interesting
    */
-  class GP2Y0A21YK {
+  class GP2Y0A {
   public:
+
     /**
-     * GP2Y0A21YK sensor constructor
+     * GP2Y0A sensor constructor
      *
      * @param pin analog pin to use
      */
-    GP2Y0A21YK(int pin);
+    GP2Y0A(int pin);
+
     /**
-     * GP2Y0A21YK Destructor
+     * GP2Y0A Destructor
      */
-    ~GP2Y0A21YK();
+    ~GP2Y0A();
+
     /**
      * Get the averaged voltage value from the sensor
      *
@@ -64,6 +77,8 @@ namespace upm {
 
   private:
     mraa_aio_context m_aio;
+    // ADC resolution
+    int m_aRes;
   };
 }
 

src/gp2y0a/jsupm_gp2y0a.i

@@ -0,0 +1,8 @@
+%module jsupm_gp2y0a
+%include "../upm.i"
+
+%{
+    #include "gp2y0a.h"
+%}
+
+%include "gp2y0a.h"

src/gp2y0a/pyupm_gp2y0a.i

@@ -0,0 +1,9 @@
+%module pyupm_gp2y0a
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "gp2y0a.h"
+%{
+    #include "gp2y0a.h"
+%}

src/gp2y0a21yk/CMakeLists.txt

@@ -1,5 +0,0 @@
-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/jsupm_gp2y0a21yk.i

@@ -1,8 +0,0 @@
-%module jsupm_gp2y0a21yk
-%include "../upm.i"
-
-%{
-    #include "gp2y0a21yk.h"
-%}
-
-%include "gp2y0a21yk.h"

src/gp2y0a21yk/pyupm_gp2y0a21yk.i

@@ -1,9 +0,0 @@
-%module pyupm_gp2y0a21yk
-%include "../upm.i"
-
-%feature("autodoc", "3");
-
-%include "gp2y0a21yk.h"
-%{
-    #include "gp2y0a21yk.h"
-%}