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>

src/enc03r/CMakeLists.txt

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+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

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+/*
+ * 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

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+/*
+ * 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

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+%module jsupm_enc03r
+%include "../upm.i"
+
+%{
+    #include "enc03r.h"
+%}
+
+%include "enc03r.h"

src/enc03r/pyupm_enc03r.i

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