From a1620271f2027bebfbf010933a5aa41db19031d9 Mon Sep 17 00:00:00 2001 From: Jon Trulson Date: Thu, 11 Dec 2014 16:18:25 -0700 Subject: [PATCH] enc03r: Initial implementation Signed-off-by: Jon Trulson Signed-off-by: Zion Orent Signed-off-by: Sarah Knepper --- examples/CMakeLists.txt | 3 + examples/enc03r.cxx | 79 +++++++++++++++++++++++++++ examples/javascript/enc03r.js | 66 ++++++++++++++++++++++ src/enc03r/CMakeLists.txt | 5 ++ src/enc03r/enc03r.cxx | 76 ++++++++++++++++++++++++++ src/enc03r/enc03r.h | 100 ++++++++++++++++++++++++++++++++++ src/enc03r/jsupm_enc03r.i | 8 +++ src/enc03r/pyupm_enc03r.i | 9 +++ 8 files changed, 346 insertions(+) create mode 100644 examples/enc03r.cxx create mode 100644 examples/javascript/enc03r.js create mode 100644 src/enc03r/CMakeLists.txt create mode 100644 src/enc03r/enc03r.cxx create mode 100644 src/enc03r/enc03r.h create mode 100644 src/enc03r/jsupm_enc03r.i create mode 100644 src/enc03r/pyupm_enc03r.i diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index a68e7434..eb98f259 100644 --- a/examples/CMakeLists.txt +++ b/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}) diff --git a/examples/enc03r.cxx b/examples/enc03r.cxx new file mode 100644 index 00000000..da0db9b7 --- /dev/null +++ b/examples/enc03r.cxx @@ -0,0 +1,79 @@ +/* + * Author: Jon Trulson + * 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 +#include +#include +#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; +} diff --git a/examples/javascript/enc03r.js b/examples/javascript/enc03r.js new file mode 100644 index 00000000..15b6d808 --- /dev/null +++ b/examples/javascript/enc03r.js @@ -0,0 +1,66 @@ +/*jslint node:true, vars:true, bitwise:true, unparam:true */ +/*jshint unused:true */ +/*global */ +/* +* Author: Zion Orent +* 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); +}); diff --git a/src/enc03r/CMakeLists.txt b/src/enc03r/CMakeLists.txt new file mode 100644 index 00000000..3fc04201 --- /dev/null +++ b/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() diff --git a/src/enc03r/enc03r.cxx b/src/enc03r/enc03r.cxx new file mode 100644 index 00000000..fbede120 --- /dev/null +++ b/src/enc03r/enc03r.cxx @@ -0,0 +1,76 @@ +/* + * Author: Jon Trulson + * 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 + +#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 + * 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 +#include + +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; + }; +} + + diff --git a/src/enc03r/jsupm_enc03r.i b/src/enc03r/jsupm_enc03r.i new file mode 100644 index 00000000..b47cdd4d --- /dev/null +++ b/src/enc03r/jsupm_enc03r.i @@ -0,0 +1,8 @@ +%module jsupm_enc03r +%include "../upm.i" + +%{ + #include "enc03r.h" +%} + +%include "enc03r.h" diff --git a/src/enc03r/pyupm_enc03r.i b/src/enc03r/pyupm_enc03r.i new file mode 100644 index 00000000..30b39427 --- /dev/null +++ b/src/enc03r/pyupm_enc03r.i @@ -0,0 +1,9 @@ +%module pyupm_enc03r +%include "../upm.i" + +%feature("autodoc", "3"); + +%include "enc03r.h" +%{ + #include "enc03r.h" +%}