enc03r: Initial implementation

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>

examples/CMakeLists.txt

@@ -51,6 +51,7 @@ add_executable (mpl3115a2-example mpl3115a2.cxx)
 add_executable (ldt0028-example ldt0028.cxx)
 add_executable (am2315-example am2315.cxx)
 add_executable (itg3200-example itg3200.cxx)
+add_executable (enc03r-example enc03r.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -90,6 +91,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/mpl3115a2)
 include_directories (${PROJECT_SOURCE_DIR}/src/ldt0028)
 include_directories (${PROJECT_SOURCE_DIR}/src/am2315)
 include_directories (${PROJECT_SOURCE_DIR}/src/itg3200)
+include_directories (${PROJECT_SOURCE_DIR}/src/enc03r)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -144,3 +146,4 @@ target_link_libraries (mpl3115a2-example mpl3115a2 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ldt0028-example ldt0028 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (am2315-example am2315 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (itg3200-example itg3200 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (enc03r-example enc03r ${CMAKE_THREAD_LIBS_INIT})

examples/enc03r.cxx

@@ -0,0 +1,79 @@
+/*
+ * 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 <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "enc03r.h"
+
+using namespace std;
+
+bool shouldRun = true;
+
+// analog voltage, usually 3.3 or 5.0
+#define CALIBRATION_SAMPLES 1000
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+  // Instantiate a ENC03R on analog pin A0
+  upm::ENC03R *gyro = new upm::ENC03R(0);
+  
+  // The first thing we need to do is calibrate the sensor.
+  cout << "Please place the sensor in a stable location, and do not" << endl;
+  cout << "move it while calibration takes place." << endl;
+  cout << "This may take a couple of minutes." << endl;
+
+  gyro->calibrate(CALIBRATION_SAMPLES);
+  cout << "Calibration complete.  Reference value: " 
+       << gyro->calibrationValue() << endl;
+
+  // Read the input and print both the raw value and the angular velocity,
+  // waiting 0.1 seconds between readings
+  while (shouldRun)
+    {
+      unsigned int val = gyro->value();
+      double av = gyro->angularVelocity(val);
+
+      cout << "Raw value: " << val << ", "  
+           << "angular velocity: " << av << " deg/s" << endl;
+      
+      usleep(100000);
+    }
+//! [Interesting]
+
+  cout << "Exiting" << endl;
+
+  delete gyro;
+  return 0;
+}

examples/javascript/enc03r.js

@@ -0,0 +1,66 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+/*global */
+/*
+* Author: Zion Orent <zorent@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.
+*/
+
+// Load analog gyro module
+var analogGyro = require('jsupm_enc03r');
+// Instantiate a ENC03R on analog pin A0
+var myGyro = new analogGyro.ENC03R(0);
+
+var CALIBRATION_SAMPLES = 1000;
+
+console.log("Please place the sensor in a stable location,\n" +
+			"and do not move it while calibration takes place.\n" +
+			"This may take a couple of minutes.");
+
+myGyro.calibrate(CALIBRATION_SAMPLES);
+console.log("Calibration complete.  Reference value: " +
+            myGyro.calibrationValue());
+
+// Read the input and print both the raw value and the angular velocity,
+// waiting 0.1 seconds between readings
+setInterval(function()
+{
+	var gyroVal = myGyro.value();
+	var outputStr = "Raw value: " + gyroVal + ", "  +
+					"angular velocity: " +
+					roundNum(myGyro.angularVelocity(gyroVal), 5) + " deg/s";
+	console.log(outputStr);
+}, 100);
+
+function roundNum(num, decimalPlaces)
+{
+	var extraNum = (1 / (Math.pow(10, decimalPlaces) * 1000));
+	return (Math.round((num + extraNum) * (Math.pow(10, decimalPlaces))) / 
+            Math.pow(10, decimalPlaces));
+}
+
+// Print message when exiting
+process.on('SIGINT', function()
+{
+	console.log("Exiting...");
+	process.exit(0);
+});

src/enc03r/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "enc03r")
+set (libdescription "upm enc03r single axis analog gyro module")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/enc03r/enc03r.cxx

@@ -0,0 +1,76 @@
+/*
+ * 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 "enc03r.h"
+
+using namespace upm;
+using namespace std;
+
+ENC03R::ENC03R(int pin, float vref)
+{
+  mraa_init();
+
+  if ( !(m_aio = mraa_aio_init(pin)) )
+    {
+      cerr << __FUNCTION__ << ": mraa_aio_init() failed" << endl;
+      return;
+    }
+
+  m_vref = vref;
+  m_calibrationValue = 0;
+}
+
+ENC03R::~ENC03R()
+{
+  mraa_aio_close(m_aio);
+}
+
+unsigned int ENC03R::value()
+{
+  return mraa_aio_read(m_aio);
+}
+
+void ENC03R::calibrate(unsigned int samples)
+{
+  unsigned int val;
+  float total = 0.0;
+
+  for (int i=0; i<samples; i++)
+    {
+      val = mraa_aio_read(m_aio);
+      total += (float)val;
+      usleep(2000);
+    }
+
+  m_calibrationValue = total / (float)samples;
+}
+
+double ENC03R::angularVelocity(unsigned int val)
+{
+  // from seeed studio example
+  //return (((double)(val-m_calibrationValue)*(m_vref*1000.0))/1023.0/0.67);
+  return (((double)(val-m_calibrationValue)*(m_vref*1000.0))/685.41);
+}

src/enc03r/enc03r.h

@@ -0,0 +1,100 @@
+/*
+ * 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 ENC03R Single Axis Analog Gyro
+   *
+   * UPM module for the ENC03R Single Axis Analog Gyro.
+   * This gyroscope measures the x-axis angular velocity; that is,
+   * how fast the sensor is rotating around the x-axis.
+   * Calibration of the sensor is necessary for accurate readings.
+   *
+   * @ingroup grove analog
+   * @snippet enc03r.cxx Interesting
+   */
+  class ENC03R {
+  public:
+
+    /**
+     * ENC03R sensor constructor
+     *
+     * @param pin analog pin to use
+     * @param vref the voltage reference to use, default 5.0
+     */
+    ENC03R(int pin, float vref=5.0);
+
+    /**
+     * ENC03R Destructor
+     */
+    ~ENC03R();
+
+    /**
+     * Calibrate the sensor by determining an analog reading over many
+     * samples with no movement of the sensor.  This must be done
+     * before attempting to use the sensor.
+     *
+     * @param samples the number of samples to use for calibration
+     */
+    void calibrate(unsigned int samples);
+    
+    /**
+     * Return the raw value of the sensor
+     *
+     * @return raw value of sensor
+     */
+    unsigned int value();
+
+    /**
+     * Return the currently stored calibration value
+     *
+     * @return current calibration value
+     */
+    float calibrationValue() { return m_calibrationValue; };
+
+    /**
+     * Compute angular velocity based on value and stored calibration
+     * reference.
+     *
+     * @param val the value to use to compute the angular velocity
+     * @return computed angular velocity
+     */
+    double angularVelocity(unsigned int val);
+
+  private:
+    // determined by calibrate();
+    float m_calibrationValue;
+
+    // reference voltage
+    float m_vref;
+    mraa_aio_context m_aio;
+  };
+}
+
+

src/enc03r/jsupm_enc03r.i

@@ -0,0 +1,8 @@
+%module jsupm_enc03r
+%include "../upm.i"
+
+%{
+    #include "enc03r.h"
+%}
+
+%include "enc03r.h"

src/enc03r/pyupm_enc03r.i

@@ -0,0 +1,9 @@
+%module pyupm_enc03r
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "enc03r.h"
+%{
+    #include "enc03r.h"
+%}