upm: version bump to v0.1.5

Signed-off-by: Thomas Ingleby <thomas.c.ingleby@intel.com>

CMakeLists.txt

@@ -8,9 +8,9 @@ endif ()
 
 find_package (Threads REQUIRED)
 find_package (PkgConfig REQUIRED)
-# force the libmaa version to be the required version
-pkg_check_modules (MAA REQUIRED maa>=0.2.9)
-message (INFO " found libmaa version: ${MAA_VERSION}")
+# force the libmraa version to be the required version
+pkg_check_modules (MRAA REQUIRED mraa>=0.4.0)
+message (INFO " found libmraa version: ${MRAA_VERSION}")
 
 # Appends the cmake/modules path to MAKE_MODULE_PATH variable.
 set (CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules ${CMAKE_MODULE_PATH})
@@ -19,8 +19,8 @@ set (CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules ${CMAKE_MODULE_
 include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 if ("x_${VERSION}" STREQUAL "x_GIT-NOTFOUND")
-  message (WARNING " - Install git to compile a production libmaa!")
-  set (VERSION "v0.1.4-dirty")
+  message (WARNING " - Install git to compile a production libmraa!")
+  set (VERSION "v0.1.5-dirty")
 endif ()
 
 message (INFO " - UPM Version ${VERSION}")
@@ -81,7 +81,7 @@ if (IPK)
   set(CPACK_DEBIAN_PACKAGE_SECTION "libs")
   set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${DETECTED_ARCH})
   set(CPACK_SYSTEM_NAME ${DETECTED_ARCH})
-  set(CPACK_DEBIAN_PACKAGE_DEPENDS "libmaa0 (>= ${MAA_VERSION})")
+  set(CPACK_DEBIAN_PACKAGE_DEPENDS "libmraa0 (>= ${MRAA_VERSION})")
   set(CPACK_DEBIAN_PACKAGE_PROVIDES "upm-dev, upm-dbg, upm-doc")
   set(CPACK_DEBIAN_PACKAGE_REPLACES ${CPACK_DEBIAN_PACKAGE_PROVIDES})
   set(CPACK_DEBIAN_PACKAGE_CONFLICTS ${CPACK_DEBIAN_PACKAGE_PROVIDES})

Doxyfile.in

@@ -44,7 +44,7 @@ PROJECT_NUMBER         = @upm_VERSION_STRING@
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = "Sensor/Actuator repository for libmaa (v@MAA_VERSION@)"
+PROJECT_BRIEF          = "Sensor/Actuator repository for libmraa (v@MRAA_VERSION@)"
 
 # With the PROJECT_LOGO tag one can specify an logo or icon that is included in
 # the documentation. The maximum height of the logo should not exceed 55 pixels

README.md

@@ -1,8 +1,8 @@
-UPM - Sensor/Actuator repository for Maa
+UPM - Sensor/Actuator repository for Mraa
 ==============
 
-UPM is a high level repository for sensors that use maa. Each sensor links to
-libmaa and are not meant to be interlinked although some groups of sensors may
+UPM is a high level repository for sensors that use mraa. Each sensor links to
+libmraa and are not meant to be interlinked although some groups of sensors may
 be. Each sensor contains a header which allows to interface with it. Typically
 a sensor is represented as a class and instanciated.
 

docs/contributions.md

@@ -11,6 +11,6 @@ Here are the rules of contribution:
   avoid GPL. (LGPL is fine). If your license is not MIT please include a
   LICENSE file in src/<mymodule>/
 - Please test your module builds before contributing and make sure it works on
-  the latest version of maa. If you tested on a specific board/platform please
+  the latest version of mraa. If you tested on a specific board/platform please
   tell us what this was in your PR.
 

docs/max31855.md

@@ -9,7 +9,7 @@ people made arduino code already so we'll use that as a
 
 ### Basics
 
-This is a spi module so we will use the maa spi functions to build our module.
+This is a spi module so we will use the mraa spi functions to build our module.
 First thing to do is to create a tree structure like this in upm/src/max31855:
 
 * max31855.cxx

docs/porting.md

@@ -1,7 +1,7 @@
 Porting a module from Arduino                         {#porting}
 =============================
 
-Porting arduino libraries to libmaa as UPM libraries is usually fairly easy.
+Porting arduino libraries to libmraa as UPM libraries is usually fairly easy.
 The issues typically come from misunderstanding of how a non real time OS deals
 with interupts and timers. It also highly depends on the sensor. A concrete
 example is explained in detail on @ref max31855
@@ -31,22 +31,22 @@ upm_module_init()
 
 The easiest way to do this is to have a look at a similar sensor to yours.
 Typically create a class for your sensor with a constructor that defines the
-pins it is on. This constructor will create the maa_*_context structs that are
+pins it is on. This constructor will create the mraa_*_context structs that are
 required to talk to the board's IO. An I2c sensor will create a
-maa_i2c_context, keep it as a private member and require a bus number and slave
+mraa_i2c_context, keep it as a private member and require a bus number and slave
 address in it's constructor.
 
 Typically in sensors a simple object->read() function is prefered, depending on
 your sensor/actuaotr this may or may not be easy or not even make sense. Most
 UPM apis have a simple set of functions.
 
-### Mapping arduino API to libmaa
+### Mapping arduino API to libmraa
 
 Your constructor is similar to the setup() function in arduino, you should
 initialise your IO the way you want it. This means initialising contexts
 (private members) and setting the correct modes for them.
 
-See the maa API documentation for exact API.
+See the mraa API documentation for exact API.
 
 ### Building
 

examples/CMakeLists.txt

@@ -17,6 +17,10 @@ add_executable (accelerometer mma7455.cxx)
 add_executable (lcd st7735.cxx)
 add_executable (max31855-example max31855.cxx)
 add_executable (gy65-example gy65.cxx)
+add_executable (stepmotor-example stepmotor.cxx)
+add_executable (pulsensor-example pulsensor.cxx)
+add_executable (mic-example mic-example.cxx)
+add_executable (mpu9150-example mpu9150-example.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -32,6 +36,10 @@ include_directories (${PROJECT_SOURCE_DIR}/src/mma7455)
 include_directories (${PROJECT_SOURCE_DIR}/src/st7735)
 include_directories (${PROJECT_SOURCE_DIR}/src/max31855)
 include_directories (${PROJECT_SOURCE_DIR}/src/gy65)
+include_directories (${PROJECT_SOURCE_DIR}/src/stepmotor)
+include_directories (${PROJECT_SOURCE_DIR}/src/pulsensor)
+include_directories (${PROJECT_SOURCE_DIR}/src/mic)
+include_directories (${PROJECT_SOURCE_DIR}/src/mpu9150)
 
 target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT})
@@ -52,3 +60,7 @@ target_link_libraries (accelerometer mma7455 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (lcd st7735 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (max31855-example max31855 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (gy65-example gy65 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (stepmotor-example stepmotor ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (pulsensor-example pulsensor ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (mic-example mic ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (mpu9150-example mpu9150 ${CMAKE_THREAD_LIBS_INIT})

examples/buzzer-sound.cxx

@@ -25,20 +25,8 @@
 #include <unistd.h>
 #include <iostream>
 #include <signal.h>
-
 #include "buzzer.h"
 
-int running = 0;
-
-void
-sig_handler(int signo)
-{
-    printf("got signal\n");
-    if (signo == SIGINT) {
-        printf("exiting application\n");
-        running = 1;
-    }
-}
 
 int
 main(int argc, char **argv) {
@@ -51,13 +39,10 @@ main(int argc, char **argv) {
     std::cout << sound->name() << std::endl;
     // play sound (DO, RE, ME, etc...)
 
-    signal(SIGINT, sig_handler);
-
-    while (!running) {
-        for (int chord_ind = 0; chord_ind < 9; chord_ind++) {
-            std::cout << sound->playSound(chord[chord_ind]) << std::endl;
-            usleep(1000);
-        }
+    for (int chord_ind = 0; chord_ind < 7; chord_ind++) {
+        // play one second for each chord
+        std::cout << sound->playSound(chord[chord_ind], 1000000) << std::endl;
+        usleep(100000);
     }
     //! [Interesting]
 

examples/hcsr04.cxx

@@ -43,7 +43,7 @@ sig_handler(int signo)
 
 //! [Interesting]
 void
-interrupt (void) {
+interrupt (void * args) {
     sonar->ackEdgeDetected ();
 }
 

examples/mic-example.cxx

@@ -0,0 +1,74 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 "mic.h"
+#include <signal.h>
+#include <stdlib.h>
+#include <sys/time.h>
+
+int is_running = 0;
+uint16_t buffer [128];
+upm::Microphone *sensor = NULL;
+
+void
+sig_handler(int signo)
+{
+    printf("got signal\n");
+    if (signo == SIGINT) {
+        is_running = 1;
+    }
+}
+
+//! [Interesting]
+int
+main(int argc, char **argv)
+{
+    sensor = new upm::Microphone(0);
+    signal(SIGINT, sig_handler);
+
+    thresholdContext ctx;
+    ctx.averageReading = 0;
+    ctx.runningAverage = 0;
+    ctx.averagedOver   = 2;
+
+    while (!is_running) {
+        int len = sensor->getSampledWindow (2, 128, buffer);
+        if (len) {
+            int thresh = sensor->findThreshold (&ctx, 30, buffer, len);
+            sensor->printGraph(&ctx);
+            if (thresh) {
+                // do something ....
+            }
+        }
+    }
+
+    std::cout << "exiting application" << std::endl;
+
+    delete sensor;
+
+    return 0;
+}
+//! [Interesting]

examples/mpu9150-example.cxx

@@ -0,0 +1,59 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 "mpu9150.h"
+
+int
+main(int argc, char **argv)
+{
+    //! [Interesting]
+    upm::Vector3D data;
+    upm::MPU9150 *sensor = new upm::MPU9150(0, ADDR);
+    sensor->getData ();
+    sensor->getAcceleromter (&data);
+    std::cout << "*************************************************" << std::endl;
+    std::cout << "DEVICE ID (" << (int) sensor->getDeviceID () << ")" << std::endl;
+    std::cout << "*************************************************" << std::endl;
+    std::cout << "ACCELEROMETER :: X (" << data.axisX << ")" << " Y (" << data.axisY << ")"
+                << " Z (" << data.axisZ << ")" << std::endl;
+
+    sensor->getGyro (&data);
+    std::cout << "GYRO :: X (" << data.axisX << ")" << " Y (" << data.axisY << ")"
+                << " Z (" << data.axisZ << ")" << std::endl;
+
+    sensor->getMagnometer (&data);
+    std::cout << "MAGNOMETER :: X (" << data.axisX << ")" << " Y (" << data.axisY << ")"
+                << " Z (" << data.axisZ << ")" << std::endl;
+    std::cout << "TEMPERATURE (" << sensor->getTemperature () << ")" << std::endl;
+    std::cout << "*************************************************" << std::endl;
+    //! [Interesting]
+
+    std::cout << "exiting application" << std::endl;
+
+    delete sensor;
+
+    return 0;
+}

examples/pulsensor.cxx

@@ -0,0 +1,61 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 <string.h>
+#include <unistd.h>
+#include "pulsensor.h"
+#include <signal.h>
+
+int doWork = 0;
+pulsensor_context sensor_ctx;
+
+void
+sig_handler(int signo)
+{
+    printf("got signal\n");
+    if (signo == SIGINT) {
+        printf("exiting application\n");
+        doWork = 1;
+    }
+}
+
+void
+handler (clbk_data data) {
+    printf ("callback data (%d)\n", data);
+}
+
+int
+main(int argc, char **argv)
+{
+//! [Interesting]
+    init_pulsensor (&sensor_ctx, handler);
+    
+    start_sampler (&sensor_ctx);
+    while (!doWork) {
+        usleep (5);
+    }
+    stop_sampler (&sensor_ctx);
+//! [Interesting]
+    return 0;
+}

examples/stepmotor.cxx

@@ -0,0 +1,73 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 <string.h>
+#include <unistd.h>
+#include <iostream>
+#include "stepmotor.h"
+#include <signal.h>
+
+int doWork = 0;
+upm::StepMotor *sensor = NULL;
+
+void
+sig_handler(int signo)
+{
+    printf("got signal\n");
+    if (signo == SIGINT) {
+        printf("exiting application\n");
+        doWork = 1;
+    }
+}
+
+int
+main(int argc, char **argv)
+{
+//! [Interesting]
+    sensor = new upm::StepMotor(4, 6);
+
+    while (!doWork) {
+        sensor->setSpeed (500);
+        sensor->stepForward (500);
+        usleep (10000);
+        sensor->stepBackwards (500);
+        usleep (10000);
+
+        sensor->setSpeed (750);
+        sensor->stepForward (500);
+        usleep (10000);
+        sensor->stepBackwards (500);
+        usleep (10000);
+
+        sensor->setSpeed (1000);
+        sensor->stepForward (500);
+        usleep (10000);
+        sensor->stepBackwards (500);
+        usleep (10000);
+    }
+
+    delete sensor;
+//! [Interesting]
+    return 0;
+}

src/CMakeLists.txt

@@ -20,7 +20,7 @@ macro(upm_SWIG_PYTHON)
     set (CMAKE_C_FLAGS -DSWIGPYTHON=${SWIG_FOUND})
     set_source_files_properties (pyupm_${libname}.i PROPERTIES CPLUSPLUS ON)
     swig_add_module (pyupm_${libname} python pyupm_${libname}.i ${module_src})
-    swig_link_libraries (pyupm_${libname} ${PYTHON_LIBRARIES} ${MAA_LIBRARIES})
+    swig_link_libraries (pyupm_${libname} ${PYTHON_LIBRARIES} ${MRAA_LIBRARIES})
     target_include_directories ( ${SWIG_MODULE_pyupm_${libname}_REAL_NAME}
       PUBLIC
       "${PYTHON_INCLUDE_PATH}"
@@ -39,7 +39,7 @@ macro(upm_SWIG_NODE)
     set_source_files_properties (jsupm_${libname}.i PROPERTIES CPLUSPLUS ON)
     set_source_files_properties (jsupm_${libname}.i PROPERTIES SWIG_FLAGS "-node")
     swig_add_module (jsupm_${libname} javascript jsupm_${libname}.i ${module_src})
-    swig_link_libraries (jsupm_${libname} ${MAA_LIBRARIES} ${NODE_LIBRARIES})
+    swig_link_libraries (jsupm_${libname} ${MRAA_LIBRARIES} ${NODE_LIBRARIES})
     target_include_directories ( ${SWIG_MODULE_jsupm_${libname}_REAL_NAME}
       PUBLIC
       "${NODE_INCLUDE_DIRS}"
@@ -95,8 +95,8 @@ endif()
 
 macro(upm_module_init)
   add_library (${libname} SHARED ${module_src})
-  include_directories (${MAA_INCLUDE_DIR} .)
-  target_link_libraries (${libname} ${MAA_LIBRARIES})
+  include_directories (${MRAA_INCLUDE_DIR} .)
+  target_link_libraries (${libname} ${MRAA_LIBRARIES})
   set_target_properties(
     ${libname}
     PROPERTIES PREFIX "libupm-"

src/buzzer/buzzer.cxx

@@ -30,22 +30,22 @@
 using namespace upm;
 
 Buzzer::Buzzer (int pinNumber) {
-    m_pwm_context = maa_pwm_init (pinNumber);
+    m_pwm_context = mraa_pwm_init (pinNumber);
     m_name = "Buzzer";
 }
 
-int Buzzer::playSound (int note) {
-    maa_pwm_enable (m_pwm_context, 1);
-    maa_pwm_period_us (m_pwm_context, note);
-    maa_pwm_write (m_pwm_context, 50.0);
-    usleep (10000);
-    maa_pwm_enable (m_pwm_context, 0);
+int Buzzer::playSound (int note, int delay) {
+    mraa_pwm_enable (m_pwm_context, 1);
+    mraa_pwm_period_us (m_pwm_context, note);
+    mraa_pwm_pulsewidth_us (m_pwm_context, note / 2);
+    usleep (delay);
+    mraa_pwm_enable (m_pwm_context, 0);
 
-    return 0;
+    return note;
 }
 
 Buzzer::~Buzzer() {
-    maa_pwm_close(m_pwm_context);
-    std::cout << "executed maa_pwm_close" << std::endl;
+    mraa_pwm_close(m_pwm_context);
+    std::cout << "executed mraa_pwm_close" << std::endl;
 }
 

src/buzzer/buzzer.h

@@ -24,15 +24,15 @@
 #pragma once
 
 #include <string>
-#include <maa/pwm.h>
+#include <mraa/pwm.h>
 
-#define  DO     3830000    // 261 Hz
-#define  RE     3400000    // 294 Hz
-#define  MI     3038000    // 329 Hz
-#define  FA     2864000    // 349 Hz
-#define  SOL    2550000    // 392 Hz
-#define  LA     2272000    // 440 Hz
-#define  SI     2028000    // 493 Hz
+#define  DO     3300    // 261 Hz 3830
+#define  RE     2930    // 294 Hz
+#define  MI     2600    // 329 Hz
+#define  FA     2460    // 349 Hz
+#define  SOL    2190    // 392 Hz
+#define  LA     1960    // 440 Hz
+#define  SI     1750    // 493 Hz
 
 namespace upm {
 
@@ -41,7 +41,7 @@ namespace upm {
  *
  * This file defines the Buzzer C++ interface for libbuzzer
  *
- * @snippet es08a.cxx Interesting
+ * @snippet buzzer-sound.cxx Interesting
  *
  */
 class Buzzer {
@@ -62,8 +62,9 @@ class Buzzer {
          * Play chords.
          *
          * @param note chords (DO, RE, ME, etc...)
+         * @param delay time in microsec for playing the sound
          */
-        int playSound (int note);
+        int playSound (int note, int delay);
 
         /**
          * Return name of the component
@@ -75,6 +76,6 @@ class Buzzer {
     protected:
         std::string m_name;
     private:
-        maa_pwm_context m_pwm_context;
+        mraa_pwm_context m_pwm_context;
 };
 }

src/grove/grove.cxx

@@ -33,31 +33,31 @@ using namespace upm;
 
 GroveLed::GroveLed(int pin)
 {
-    maa_init();
-    m_gpio = maa_gpio_init(pin);
-    maa_gpio_dir(m_gpio, MAA_GPIO_OUT);
+    mraa_init();
+    m_gpio = mraa_gpio_init(pin);
+    mraa_gpio_dir(m_gpio, MRAA_GPIO_OUT);
     m_name = "LED Socket";
 }
 
 GroveLed::~GroveLed()
 {
-    maa_gpio_close(m_gpio);
+    mraa_gpio_close(m_gpio);
 }
 
-maa_result_t GroveLed::write(int value)
+mraa_result_t GroveLed::write(int value)
 {
     if (value >= 1) {
-        return maa_gpio_write(m_gpio, 1);
+        return mraa_gpio_write(m_gpio, 1);
     }
-    return maa_gpio_write(m_gpio, 0);
+    return mraa_gpio_write(m_gpio, 0);
 }
 
-maa_result_t GroveLed::on()
+mraa_result_t GroveLed::on()
 {
     return write(1);
 }
 
-maa_result_t GroveLed::off()
+mraa_result_t GroveLed::off()
 {
     return write(0);
 }
@@ -66,19 +66,19 @@ maa_result_t GroveLed::off()
 
 GroveTemp::GroveTemp(unsigned int pin)
 {
-    maa_init();
-    m_aio = maa_aio_init(pin);
+    mraa_init();
+    m_aio = mraa_aio_init(pin);
     m_name = "Temperature Sensor";
 }
 
 GroveTemp::~GroveTemp()
 {
-    maa_aio_close(m_aio);
+    mraa_aio_close(m_aio);
 }
 
 int GroveTemp::value ()
 {
-    int a = maa_aio_read(m_aio);
+    int a = mraa_aio_read(m_aio);
     float r = (float)(1023-a)*10000/a;
     float t = 1/(logf(r/10000)/3975 + 1/298.15)-273.15;
     return (int) t;
@@ -86,32 +86,32 @@ int GroveTemp::value ()
 
 float GroveTemp::raw_value()
 {
-    return (float) maa_aio_read(m_aio);
+    return (float) mraa_aio_read(m_aio);
 }
 
 //// GroveLight ////
 
 GroveLight::GroveLight(unsigned int pin)
 {
-    maa_init();
-    m_aio = maa_aio_init(pin);
+    mraa_init();
+    m_aio = mraa_aio_init(pin);
     m_name = "Light Sensor";
 }
 
 GroveLight::~GroveLight()
 {
-    maa_aio_close(m_aio);
+    mraa_aio_close(m_aio);
 }
 
 int GroveLight::value ()
 {
     // rough conversion to Lux
-    int a = maa_aio_read(m_aio);
+    int a = mraa_aio_read(m_aio);
     a = 10000/(((1023-a)*10/a)*15)^(4/3);
     return a;
 }
 
 float GroveLight::raw_value()
 {
-    return (float) maa_aio_read(m_aio);
+    return (float) mraa_aio_read(m_aio);
 }

src/grove/grove.h

@@ -24,8 +24,8 @@
 #pragma once
 
 #include <string>
-#include <maa/aio.h>
-#include <maa/gpio.h>
+#include <mraa/aio.h>
+#include <mraa/gpio.h>
 
 namespace upm {
 
@@ -44,11 +44,11 @@ class GroveLed: public Grove {
     public:
         GroveLed(int pin);
         ~GroveLed();
-        maa_result_t write(int value);
-        maa_result_t off();
-        maa_result_t on();
+        mraa_result_t write(int value);
+        mraa_result_t off();
+        mraa_result_t on();
     private:
-        maa_gpio_context m_gpio;
+        mraa_gpio_context m_gpio;
 };
 
 class GroveTemp: public Grove {
@@ -58,7 +58,7 @@ class GroveTemp: public Grove {
         float raw_value();
         int value();
     private:
-        maa_aio_context m_aio;
+        mraa_aio_context m_aio;
 };
 
 class GroveLight: public Grove {
@@ -68,7 +68,7 @@ class GroveLight: public Grove {
         float raw_value();
         int value();
     private:
-        maa_aio_context m_aio;
+        mraa_aio_context m_aio;
 };
 
 }

src/gy65/gy65.cxx

@@ -36,10 +36,10 @@ GY65::GY65 (int bus, int devAddr, uint8_t mode) {
     m_controlAddr = devAddr;
     m_bus = bus;
 
-    m_i2ControlCtx = maa_i2c_init(m_bus);
+    m_i2ControlCtx = mraa_i2c_init(m_bus);
 
-    maa_result_t ret = maa_i2c_address(m_i2ControlCtx, m_controlAddr);
-    if (ret != MAA_SUCCESS) {
+    mraa_result_t ret = mraa_i2c_address(m_i2ControlCtx, m_controlAddr);
+    if (ret != MRAA_SUCCESS) {
         fprintf(stderr, "Messed up i2c bus\n");
     }
 
@@ -70,7 +70,7 @@ GY65::GY65 (int bus, int devAddr, uint8_t mode) {
 }
 
 GY65::~GY65() {
-    maa_i2c_stop(m_i2ControlCtx);
+    mraa_i2c_stop(m_i2ControlCtx);
 }
 
 int32_t
@@ -180,13 +180,13 @@ GY65::computeB5(int32_t UT) {
     return X1 + X2;
 }
 
-maa_result_t
+mraa_result_t
 GY65::i2cWriteReg (uint8_t reg, uint8_t value) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     uint8_t data[2] = { reg, value };
-    error = maa_i2c_address (m_i2ControlCtx, m_controlAddr);
-    error = maa_i2c_write (m_i2ControlCtx, data, 2);
+    error = mraa_i2c_address (m_i2ControlCtx, m_controlAddr);
+    error = mraa_i2c_write (m_i2ControlCtx, data, 2);
 
     return error;
 }
@@ -195,11 +195,11 @@ uint16_t
 GY65::i2cReadReg_16 (int reg) {
     uint16_t data;
 
-    maa_i2c_address(m_i2ControlCtx, m_controlAddr);
-    maa_i2c_write_byte(m_i2ControlCtx, reg);
+    mraa_i2c_address(m_i2ControlCtx, m_controlAddr);
+    mraa_i2c_write_byte(m_i2ControlCtx, reg);
 
-    maa_i2c_address(m_i2ControlCtx, m_controlAddr);
-    maa_i2c_read(m_i2ControlCtx, (uint8_t *)&data, 0x2);
+    mraa_i2c_address(m_i2ControlCtx, m_controlAddr);
+    mraa_i2c_read(m_i2ControlCtx, (uint8_t *)&data, 0x2);
 
     uint8_t high = (data & 0xFF00) >> 8;
     data = (data << 8) & 0xFF00;
@@ -212,11 +212,11 @@ uint8_t
 GY65::i2cReadReg_8 (int reg) {
     uint8_t data;
 
-    maa_i2c_address(m_i2ControlCtx, m_controlAddr);
-    maa_i2c_write_byte(m_i2ControlCtx, reg);
+    mraa_i2c_address(m_i2ControlCtx, m_controlAddr);
+    mraa_i2c_write_byte(m_i2ControlCtx, reg);
 
-    maa_i2c_address(m_i2ControlCtx, m_controlAddr);
-    maa_i2c_read(m_i2ControlCtx, &data, 0x1);
+    mraa_i2c_address(m_i2ControlCtx, m_controlAddr);
+    mraa_i2c_read(m_i2ControlCtx, &data, 0x1);
 
     return data;
 }

src/gy65/gy65.h

@@ -27,7 +27,7 @@
 #pragma once
 
 #include <string>
-#include <maa/i2c.h>
+#include <mraa/i2c.h>
 #include <math.h>
 
 #define ADDR               0x77 // device address
@@ -137,7 +137,7 @@ class GY65 {
          * @param reg address of a register
          * @param value byte to be written
          */
-        maa_result_t i2cWriteReg (uint8_t reg, uint8_t value);
+        mraa_result_t i2cWriteReg (uint8_t reg, uint8_t value);
 
         /**
          * Read one byte register
@@ -151,7 +151,7 @@ class GY65 {
 
         int m_controlAddr;
         int m_bus;
-        maa_i2c_context m_i2ControlCtx;
+        mraa_i2c_context m_i2ControlCtx;
 
         uint8_t oversampling;
         int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;

src/hcsr04/hcsr04.cxx

@@ -31,44 +31,44 @@
 
 using namespace upm;
 
-HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void)) {
-    maa_result_t error  = MAA_SUCCESS;
+HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *)) {
+    mraa_result_t error  = MRAA_SUCCESS;
     m_name              = "HCSR04";
 
-    m_pwmTriggerCtx     = maa_pwm_init (triggerPin);
+    m_pwmTriggerCtx     = mraa_pwm_init (triggerPin);
     if (m_pwmTriggerCtx == NULL) {
         std::cout << "PWM context is NULL" << std::endl;
         exit (1);
     }
 
-    maa_init();
-    m_echoPinCtx = maa_gpio_init(echoPin);
+    mraa_init();
+    m_echoPinCtx = mraa_gpio_init(echoPin);
     if (m_echoPinCtx == NULL) {
         fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", echoPin);
         exit (1);
     }
 
-    maa_gpio_dir(m_echoPinCtx, MAA_GPIO_IN);
-    gpio_edge_t edge = MAA_GPIO_EDGE_BOTH;
-    maa_gpio_isr (m_echoPinCtx, edge, fptr);
+    mraa_gpio_dir(m_echoPinCtx, MRAA_GPIO_IN);
+    gpio_edge_t edge = MRAA_GPIO_EDGE_BOTH;
+    mraa_gpio_isr (m_echoPinCtx, edge, fptr, NULL);
 }
 
 HCSR04::~HCSR04 () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
-    maa_pwm_close (m_pwmTriggerCtx);
-    error = maa_gpio_close (m_echoPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    mraa_pwm_close (m_pwmTriggerCtx);
+    error = mraa_gpio_close (m_echoPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 }
 
 int
 HCSR04::getDistance () {
-    maa_pwm_enable (m_pwmTriggerCtx, 1);
-    maa_pwm_period_us (m_pwmTriggerCtx, MAX_PERIOD);
-    maa_pwm_pulsewidth_us (m_pwmTriggerCtx, TRIGGER_PULSE);
-    maa_pwm_enable (m_pwmTriggerCtx, 0);
+    mraa_pwm_enable (m_pwmTriggerCtx, 1);
+    mraa_pwm_period_us (m_pwmTriggerCtx, MAX_PERIOD);
+    mraa_pwm_pulsewidth_us (m_pwmTriggerCtx, TRIGGER_PULSE);
+    mraa_pwm_enable (m_pwmTriggerCtx, 0);
 
     m_doWork = 0;
     m_InterruptCounter = 0;

src/hcsr04/hcsr04.h

@@ -24,9 +24,9 @@
 #pragma once
 
 #include <string>
-#include <maa/aio.h>
-#include <maa/gpio.h>
-#include <maa/pwm.h>
+#include <mraa/aio.h>
+#include <mraa/gpio.h>
+#include <mraa/pwm.h>
 #include <sys/time.h>
 
 #define HIGH                   1
@@ -55,7 +55,7 @@ class HCSR04 {
          * @param fptr function pointer for handling raising and
          * falling interrupts
          */
-        HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void));
+        HCSR04 (uint8_t triggerPin, uint8_t echoPin, void (*fptr)(void *));
 
         /**
          * HCSR04 object destructor.
@@ -85,8 +85,8 @@ class HCSR04 {
         }
 
     private:
-        maa_pwm_context     m_pwmTriggerCtx;
-        maa_gpio_context    m_echoPinCtx;
+        mraa_pwm_context     m_pwmTriggerCtx;
+        mraa_gpio_context    m_echoPinCtx;
 
         uint8_t m_waitEcho;
         long    m_RisingTimeStamp;

src/hmc5883l/hmc5883l.cxx

@@ -79,17 +79,17 @@ using namespace upm;
 
 Hmc5883l::Hmc5883l(int bus)
 {
-    m_i2c = maa_i2c_init(bus);
+    m_i2c = mraa_i2c_init(bus);
 
-    maa_i2c_address(m_i2c, HMC5883L_I2C_ADDR);
+    mraa_i2c_address(m_i2c, HMC5883L_I2C_ADDR);
     m_rx_tx_buf[0] = HMC5883L_CONF_REG_B;
     m_rx_tx_buf[1] = GA_1_3_REG;
-    maa_i2c_write(m_i2c, m_rx_tx_buf, 2);
+    mraa_i2c_write(m_i2c, m_rx_tx_buf, 2);
 
-    maa_i2c_address(m_i2c, HMC5883L_I2C_ADDR);
+    mraa_i2c_address(m_i2c, HMC5883L_I2C_ADDR);
     m_rx_tx_buf[0] = HMC5883L_MODE_REG;
     m_rx_tx_buf[1] = HMC5883L_CONT_MODE;
-    maa_i2c_write(m_i2c, m_rx_tx_buf, 2);
+    mraa_i2c_write(m_i2c, m_rx_tx_buf, 2);
 
     Hmc5883l::update();
 }
@@ -97,11 +97,11 @@ Hmc5883l::Hmc5883l(int bus)
 int
 Hmc5883l::update(void)
 {
-    maa_i2c_address(m_i2c, HMC5883L_I2C_ADDR);
-    maa_i2c_write_byte(m_i2c, HMC5883L_DATA_REG);
+    mraa_i2c_address(m_i2c, HMC5883L_I2C_ADDR);
+    mraa_i2c_write_byte(m_i2c, HMC5883L_DATA_REG);
 
-    maa_i2c_address(m_i2c, HMC5883L_I2C_ADDR);
-    maa_i2c_read(m_i2c, m_rx_tx_buf, DATA_REG_SIZE);
+    mraa_i2c_address(m_i2c, HMC5883L_I2C_ADDR);
+    mraa_i2c_read(m_i2c, m_rx_tx_buf, DATA_REG_SIZE);
 
     // x
     m_coor[0] = (m_rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | m_rx_tx_buf[HMC5883L_X_LSB_REG];
@@ -110,7 +110,7 @@ Hmc5883l::update(void)
     // y
     m_coor[1] = (m_rx_tx_buf[HMC5883L_Y_MSB_REG] << 8 ) | m_rx_tx_buf[HMC5883L_Y_LSB_REG];
 
-    return MAA_SUCCESS;
+    return MRAA_SUCCESS;
 }
 
 float

src/hmc5883l/hmc5883l.h

@@ -23,7 +23,7 @@
  */
 #pragma once
 
-#include <maa/i2c.h>
+#include <mraa/i2c.h>
 
 #define MAX_BUFFER_LENGTH 6
 
@@ -55,7 +55,7 @@ public:
 private:
     int m_coor[3];
     uint8_t m_rx_tx_buf[MAX_BUFFER_LENGTH];
-    maa_i2c_context m_i2c;
+    mraa_i2c_context m_i2c;
 };
 
 }

src/lcd/i2clcd.cxx

@@ -33,54 +33,54 @@ I2CLcd::I2CLcd (int bus, int lcdAddress) {
     m_lcd_control_address = lcdAddress;
     m_bus = bus;
 
-    m_i2c_lcd_control = maa_i2c_init(m_bus);
+    m_i2c_lcd_control = mraa_i2c_init(m_bus);
 
-    maa_result_t ret = maa_i2c_address(m_i2c_lcd_control, m_lcd_control_address);
-    if (ret != MAA_SUCCESS) {
+    mraa_result_t ret = mraa_i2c_address(m_i2c_lcd_control, m_lcd_control_address);
+    if (ret != MRAA_SUCCESS) {
         fprintf(stderr, "Messed up i2c bus\n");
     }
 }
 
-maa_result_t
+mraa_result_t
 I2CLcd::write (int row, int column, std::string msg) {
     setCursor (row, column);
     write (msg);
 }
 
-maa_result_t
+mraa_result_t
 I2CLcd::close() {
-    return maa_i2c_stop(m_i2c_lcd_control);
+    return mraa_i2c_stop(m_i2c_lcd_control);
 }
 
-maa_result_t
-I2CLcd::i2cReg (maa_i2c_context ctx, int deviceAdress, int addr, uint8_t value) {
-    maa_result_t error = MAA_SUCCESS;
+mraa_result_t
+I2CLcd::i2cReg (mraa_i2c_context ctx, int deviceAdress, int addr, uint8_t value) {
+    mraa_result_t error = MRAA_SUCCESS;
 
     uint8_t data[2] = { addr, value };
-    error = maa_i2c_address (ctx, deviceAdress);
-    error = maa_i2c_write (ctx, data, 2);
+    error = mraa_i2c_address (ctx, deviceAdress);
+    error = mraa_i2c_write (ctx, data, 2);
 
     return error;
 }
 
-maa_result_t
-I2CLcd::i2Cmd (maa_i2c_context ctx, uint8_t value) {
-    maa_result_t error = MAA_SUCCESS;
+mraa_result_t
+I2CLcd::i2Cmd (mraa_i2c_context ctx, uint8_t value) {
+    mraa_result_t error = MRAA_SUCCESS;
 
     uint8_t data[2] = { LCD_CMD, value };
-    error = maa_i2c_address (ctx, m_lcd_control_address);
-    error = maa_i2c_write (ctx, data, 2);
+    error = mraa_i2c_address (ctx, m_lcd_control_address);
+    error = mraa_i2c_write (ctx, data, 2);
 
     return error;
 }
 
-maa_result_t
-I2CLcd::i2cData (maa_i2c_context ctx, uint8_t value) {
-    maa_result_t error = MAA_SUCCESS;
+mraa_result_t
+I2CLcd::i2cData (mraa_i2c_context ctx, uint8_t value) {
+    mraa_result_t error = MRAA_SUCCESS;
 
     uint8_t data[2] = { LCD_DATA, value };
-    error = maa_i2c_address (ctx, m_lcd_control_address);
-    error = maa_i2c_write (ctx, data, 2);
+    error = mraa_i2c_address (ctx, m_lcd_control_address);
+    error = mraa_i2c_write (ctx, data, 2);
 
     return error;
 }

src/lcd/i2clcd.h

@@ -24,7 +24,7 @@
 #pragma once
 
 #include <string>
-#include <maa/i2c.h>
+#include <mraa/i2c.h>
 
 namespace upm {
 
@@ -70,17 +70,17 @@ namespace upm {
 class I2CLcd {
     public:
         I2CLcd (int bus, int lcdAddress);
-        maa_result_t write (int x, int y, std::string msg);
+        mraa_result_t write (int x, int y, std::string msg);
         
-        virtual maa_result_t write (std::string msg) = 0;
-        virtual maa_result_t setCursor (int row, int column) = 0;
-        virtual maa_result_t clear () = 0;
-        virtual maa_result_t home () = 0;
-        virtual maa_result_t i2Cmd (maa_i2c_context ctx, uint8_t value);
-        virtual maa_result_t i2cReg (maa_i2c_context ctx, int deviceAdress, int addr, uint8_t data);
-        virtual maa_result_t i2cData (maa_i2c_context ctx, uint8_t value);
+        virtual mraa_result_t write (std::string msg) = 0;
+        virtual mraa_result_t setCursor (int row, int column) = 0;
+        virtual mraa_result_t clear () = 0;
+        virtual mraa_result_t home () = 0;
+        virtual mraa_result_t i2Cmd (mraa_i2c_context ctx, uint8_t value);
+        virtual mraa_result_t i2cReg (mraa_i2c_context ctx, int deviceAdress, int addr, uint8_t data);
+        virtual mraa_result_t i2cData (mraa_i2c_context ctx, uint8_t value);
         
-        maa_result_t close();
+        mraa_result_t close();
         std::string name()
         {
             return m_name;
@@ -89,7 +89,7 @@ class I2CLcd {
         std::string m_name;
         int m_lcd_control_address;
         int m_bus;
-        maa_i2c_context m_i2c_lcd_control;
+        mraa_i2c_context m_i2c_lcd_control;
 };
 
 }

src/lcd/jhd1313m1.cxx

@@ -30,13 +30,13 @@
 using namespace upm;
 
 Jhd1313m1::Jhd1313m1 (int bus, int lcdAddress, int rgbAddress) : I2CLcd(bus, lcdAddress) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     m_rgb_address = rgbAddress;
-    m_i2c_lcd_rgb = maa_i2c_init(m_bus);
+    m_i2c_lcd_rgb = mraa_i2c_init(m_bus);
 
-    maa_result_t ret = maa_i2c_address(m_i2c_lcd_rgb, m_rgb_address);
-    if (ret != MAA_SUCCESS) {
+    mraa_result_t ret = mraa_i2c_address(m_i2c_lcd_rgb, m_rgb_address);
+    if (ret != MRAA_SUCCESS) {
         fprintf(stderr, "Messed up i2c bus\n");
     }
 
@@ -75,9 +75,9 @@ Jhd1313m1::~Jhd1313m1() {
  *  virtual area
  * **************
  */
-maa_result_t
+mraa_result_t
 Jhd1313m1::write (std::string msg) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
     uint8_t data[2] = {0x40, 0};
     for (std::string::size_type i = 0; i < msg.size(); ++i) {
         error = i2cData (m_i2c_lcd_control, msg[i]);
@@ -86,9 +86,9 @@ Jhd1313m1::write (std::string msg) {
     return error;
 }
 
-maa_result_t
+mraa_result_t
 Jhd1313m1::setCursor (int row, int column) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
     int row_addr[] = { 0x80, 0xc0, 0x14, 0x54};
     uint8_t offset = ((column % 16) + row_addr[row]);
     error =  i2Cmd (m_i2c_lcd_control, offset);
@@ -96,12 +96,12 @@ Jhd1313m1::setCursor (int row, int column) {
     return error;
 }
 
-maa_result_t
+mraa_result_t
 Jhd1313m1::clear () {
     return i2Cmd (m_i2c_lcd_control, LCD_CLEARDISPLAY);
 }
 
-maa_result_t
+mraa_result_t
 Jhd1313m1::home () {
     return i2Cmd (m_i2c_lcd_control, LCD_RETURNHOME);
 }

src/lcd/jhd1313m1.h

@@ -32,14 +32,14 @@ class Jhd1313m1 : public I2CLcd {
     public:
         Jhd1313m1 (int bus, int lcdAddress, int rgbAddress);
         ~Jhd1313m1 ();
-        maa_result_t write (std::string msg);
-        maa_result_t setCursor (int row, int column);
-        maa_result_t clear ();
-        maa_result_t home ();
+        mraa_result_t write (std::string msg);
+        mraa_result_t setCursor (int row, int column);
+        mraa_result_t clear ();
+        mraa_result_t home ();
 
     private:
         int m_rgb_address;
-        maa_i2c_context m_i2c_lcd_rgb;
+        mraa_i2c_context m_i2c_lcd_rgb;
 };
 
 }

src/lcd/lcm1602.cxx

@@ -33,7 +33,7 @@
 using namespace upm;
 
 Lcm1602::Lcm1602(int bus_in, int addr_in) : I2CLcd (bus_in, addr_in) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     usleep(50000);
     expandWrite(LCD_BACKLIGHT);
@@ -69,18 +69,18 @@ Lcm1602::~Lcm1602 () {
  *  virtual area
  * **************
  */
-maa_result_t
+mraa_result_t
 Lcm1602::write (std::string msg) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
     for (std::string::size_type i = 0; i < msg.size(); ++i) {
         error = send (msg[i], LCD_RS);
     }
     return error;
 }
 
-maa_result_t
+mraa_result_t
 Lcm1602::setCursor (int row, int column) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     int row_addr[] = { 0x80, 0xc0, 0x14, 0x54};
     uint8_t offset = ((column % 16) + row_addr[row]);
@@ -88,12 +88,12 @@ Lcm1602::setCursor (int row, int column) {
     return send (LCD_CMD | offset, 0);
 }
 
-maa_result_t
+mraa_result_t
 Lcm1602::clear () {
     return send(LCD_CLEARDISPLAY, 0);
 }
 
-maa_result_t
+mraa_result_t
 Lcm1602::home () {
     return send(LCD_RETURNHOME, 0);
 }
@@ -103,9 +103,9 @@ Lcm1602::home () {
  *  private area
  * **************
  */
-maa_result_t
+mraa_result_t
 Lcm1602::send (uint8_t value, int mode) {
-    maa_result_t ret = MAA_SUCCESS;
+    mraa_result_t ret = MRAA_SUCCESS;
     uint8_t h = value & 0xf0;
     uint8_t l = (value << 4) & 0xf0;
     ret = write4bits(h | mode);
@@ -113,26 +113,26 @@ Lcm1602::send (uint8_t value, int mode) {
     return ret;
 }
 
-maa_result_t
+mraa_result_t
 Lcm1602::write4bits(uint8_t value)
 {
-    maa_result_t ret = MAA_SUCCESS;
+    mraa_result_t ret = MRAA_SUCCESS;
     ret = expandWrite(value);
     ret = pulseEnable(value);
     return ret;
 }
 
-maa_result_t
+mraa_result_t
 Lcm1602::expandWrite(uint8_t value)
 {
     uint8_t buffer = value | LCD_BACKLIGHT;
-    return maa_i2c_write_byte(m_i2c_lcd_control, buffer);
+    return mraa_i2c_write_byte(m_i2c_lcd_control, buffer);
 }
 
-maa_result_t
+mraa_result_t
 Lcm1602::pulseEnable(uint8_t value)
 {
-    maa_result_t ret = MAA_SUCCESS;
+    mraa_result_t ret = MRAA_SUCCESS;
     ret = expandWrite(value | LCD_EN);
     usleep(1);
     ret = expandWrite(value & ~LCD_EN);

src/lcd/lcm1602.h

@@ -35,21 +35,21 @@ namespace upm {
 class Lcm1602 : public I2CLcd {
     public:
         /** LCM1602 Constructor.
-         * Calls MAA initialisation functions.
+         * Calls MRAA initialisation functions.
          * @param bus i2c bus to use
          * @param address the slave address the lcd is registered on.
          */
         Lcm1602(int bus, int address);
         ~Lcm1602();
-        maa_result_t write (std::string msg);
-        maa_result_t setCursor (int row, int column);
-        maa_result_t clear ();
-        maa_result_t home ();
+        mraa_result_t write (std::string msg);
+        mraa_result_t setCursor (int row, int column);
+        mraa_result_t clear ();
+        mraa_result_t home ();
 
     private :
-        maa_result_t send (uint8_t value, int mode);
-        maa_result_t write4bits(uint8_t value);
-        maa_result_t expandWrite(uint8_t value);
-        maa_result_t pulseEnable(uint8_t value);
+        mraa_result_t send (uint8_t value, int mode);
+        mraa_result_t write4bits(uint8_t value);
+        mraa_result_t expandWrite(uint8_t value);
+        mraa_result_t pulseEnable(uint8_t value);
     };
 }

src/lcd/ssd1308.cxx

@@ -45,9 +45,9 @@ SSD1308::~SSD1308 () {
 
 }
 
-maa_result_t
+mraa_result_t
 SSD1308::draw (uint8_t *data, int bytes) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     setAddressingMode (HORIZONTAL);
     for (int idx = 0; idx < bytes; idx++) {
@@ -62,9 +62,9 @@ SSD1308::draw (uint8_t *data, int bytes) {
  *  virtual area
  * **************
  */
-maa_result_t
+mraa_result_t
 SSD1308::write (std::string msg) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
     uint8_t data[2] = {0x40, 0};
 
     setAddressingMode (PAGE);
@@ -75,9 +75,9 @@ SSD1308::write (std::string msg) {
     return error;
 }
 
-maa_result_t
+mraa_result_t
 SSD1308::setCursor (int row, int column) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     error = i2Cmd (m_i2c_lcd_control, BASE_PAGE_START_ADDR + row);                           // set page address
     error = i2Cmd (m_i2c_lcd_control, BASE_LOW_COLUMN_ADDR + (8 * column & 0x0F));           // set column lower address
@@ -86,9 +86,9 @@ SSD1308::setCursor (int row, int column) {
     return error;
 }
 
-maa_result_t
+mraa_result_t
 SSD1308::clear () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
     uint8_t columnIdx, rowIdx;
 
     i2Cmd (m_i2c_lcd_control, DISPLAY_CMD_OFF);  // display off
@@ -103,10 +103,10 @@ SSD1308::clear () {
     i2Cmd (m_i2c_lcd_control, DISPLAY_CMD_ON);   // display on
     home ();
 
-    return MAA_SUCCESS;
+    return MRAA_SUCCESS;
 }
 
-maa_result_t
+mraa_result_t
 SSD1308::home () {
     return setCursor (0, 0);
 }
@@ -116,8 +116,8 @@ SSD1308::home () {
  *  private area
  * **************
  */
-maa_result_t
-SSD1308::writeChar (maa_i2c_context ctx, uint8_t value) {
+mraa_result_t
+SSD1308::writeChar (mraa_i2c_context ctx, uint8_t value) {
     if (value < 0x20 || value > 0x7F) {
         value = 0x20; // space
     }
@@ -127,12 +127,12 @@ SSD1308::writeChar (maa_i2c_context ctx, uint8_t value) {
     }
 }
 
-maa_result_t
+mraa_result_t
 SSD1308::setNormalDisplay () {
     return i2Cmd (m_i2c_lcd_control, DISPLAY_CMD_SET_NORMAL);    // set to normal display '1' is ON
 }
 
-maa_result_t
+mraa_result_t
 SSD1308::setAddressingMode (displayAddressingMode mode) {
     i2Cmd (m_i2c_lcd_control, DISPLAY_CMD_MEM_ADDR_MODE); //set addressing mode
     i2Cmd (m_i2c_lcd_control, mode); //set page addressing mode

src/lcd/ssd1308.h

@@ -148,23 +148,23 @@ typedef enum {
 class SSD1308 : public I2CLcd {
     public:
         /** SSD1308 Constructor.
-         * Calls MAA initialisation functions.
+         * Calls MRAA initialisation functions.
          * @param bus i2c bus to use
          * @param address the slave address the lcd is registered on.
          */
         SSD1308 (int bus, int address);
         ~SSD1308 ();
-        maa_result_t draw(uint8_t *data, int bytes);
+        mraa_result_t draw(uint8_t *data, int bytes);
 
         // pure virtual methods
-        maa_result_t write (std::string msg);
-        maa_result_t setCursor (int row, int column);
-        maa_result_t clear ();
-        maa_result_t home ();
+        mraa_result_t write (std::string msg);
+        mraa_result_t setCursor (int row, int column);
+        mraa_result_t clear ();
+        mraa_result_t home ();
 
     private:
-        maa_result_t writeChar (maa_i2c_context ctx, uint8_t value);
-        maa_result_t setNormalDisplay ();
-        maa_result_t setAddressingMode (displayAddressingMode mode);
+        mraa_result_t writeChar (mraa_i2c_context ctx, uint8_t value);
+        mraa_result_t setNormalDisplay ();
+        mraa_result_t setAddressingMode (displayAddressingMode mode);
     };
 }

src/lcd/ssd1327.cxx

@@ -33,7 +33,7 @@ using namespace upm;
 #define CMD_SLEEP  10000
 
 SSD1327::SSD1327 (int bus_in, int addr_in) : I2CLcd (bus_in, addr_in) {
-    maa_result_t error  = MAA_SUCCESS;
+    mraa_result_t error  = MRAA_SUCCESS;
     usleep (INIT_SLEEP);
     i2Cmd (m_i2c_lcd_control, 0xFD); // Unlock OLED driver IC MCU interface from entering command. i.e: Accept commands
     usleep (INIT_SLEEP);
@@ -123,9 +123,9 @@ SSD1327::~SSD1327 () {
 
 }
 
-maa_result_t
+mraa_result_t
 SSD1327::draw (uint8_t *data, int bytes) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     setHorizontalMode ();
     for (int row = 0; row < bytes; row++) {
@@ -151,9 +151,9 @@ SSD1327::draw (uint8_t *data, int bytes) {
  *  virtual area
  * **************
  */
-maa_result_t
+mraa_result_t
 SSD1327::write (std::string msg) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     setVerticalMode ();
     for (std::string::size_type i = 0; i < msg.size(); ++i) {
@@ -163,9 +163,9 @@ SSD1327::write (std::string msg) {
     return error;
 }
 
-maa_result_t
+mraa_result_t
 SSD1327::setCursor (int row, int column) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     //Column Address
     i2Cmd (m_i2c_lcd_control, 0x15);                /* Set Column Address */
@@ -185,9 +185,9 @@ SSD1327::setCursor (int row, int column) {
     return error;
 }
 
-maa_result_t
+mraa_result_t
 SSD1327::clear () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
     uint8_t columnIdx, rowIdx;
 
     for(rowIdx = 0; rowIdx < 12; rowIdx++) {
@@ -197,15 +197,15 @@ SSD1327::clear () {
         }
     }
 
-    return MAA_SUCCESS;
+    return MRAA_SUCCESS;
 }
 
-maa_result_t
+mraa_result_t
 SSD1327::home () {
     return setCursor (0, 0);
 }
 
-maa_result_t
+mraa_result_t
 SSD1327::setGrayLevel (uint8_t level) {
     grayHigh = (level << 4) & 0xF0;
     grayLow  =  level & 0x0F;
@@ -216,8 +216,8 @@ SSD1327::setGrayLevel (uint8_t level) {
  *  private area
  * **************
  */
-maa_result_t
-SSD1327::writeChar (maa_i2c_context ctx, uint8_t value) {
+mraa_result_t
+SSD1327::writeChar (mraa_i2c_context ctx, uint8_t value) {
     if (value < 0x20 || value > 0x7F) {
         value = 0x20; // space
     }
@@ -238,12 +238,12 @@ SSD1327::writeChar (maa_i2c_context ctx, uint8_t value) {
     }
 }
 
-maa_result_t
+mraa_result_t
 SSD1327::setNormalDisplay () {
     return i2Cmd (m_i2c_lcd_control, DISPLAY_CMD_SET_NORMAL);    // set to normal display '1' is ON
 }
 
-maa_result_t
+mraa_result_t
 SSD1327::setHorizontalMode () {
     i2Cmd (m_i2c_lcd_control, 0xA0); // remap to
     usleep (CMD_SLEEP);
@@ -267,7 +267,7 @@ SSD1327::setHorizontalMode () {
     usleep (CMD_SLEEP);
 }
 
-maa_result_t
+mraa_result_t
 SSD1327::setVerticalMode () {
     i2Cmd (m_i2c_lcd_control, 0xA0); // remap to
     usleep (CMD_SLEEP);

src/lcd/ssd1327.h

@@ -148,26 +148,26 @@ typedef enum {
 class SSD1327 : public I2CLcd {
     public:
         /** SSD1308 Constructor.
-         * Calls MAA initialisation functions.
+         * Calls MRAA initialisation functions.
          * @param bus i2c bus to use
          * @param address the slave address the lcd is registered on.
          */
         SSD1327 (int bus, int address);
         ~SSD1327 ();
-        maa_result_t draw(uint8_t *data, int bytes);
+        mraa_result_t draw(uint8_t *data, int bytes);
 
         // virtual methods
-        maa_result_t write (std::string msg);
-        maa_result_t setCursor (int row, int column);
-        maa_result_t clear ();
-        maa_result_t home ();
-        maa_result_t setGrayLevel (uint8_t level);
+        mraa_result_t write (std::string msg);
+        mraa_result_t setCursor (int row, int column);
+        mraa_result_t clear ();
+        mraa_result_t home ();
+        mraa_result_t setGrayLevel (uint8_t level);
 
     private:
-        maa_result_t writeChar (maa_i2c_context ctx, uint8_t value);
-        maa_result_t setNormalDisplay ();
-        maa_result_t setHorizontalMode ();
-        maa_result_t setVerticalMode ();
+        mraa_result_t writeChar (mraa_i2c_context ctx, uint8_t value);
+        mraa_result_t setNormalDisplay ();
+        mraa_result_t setHorizontalMode ();
+        mraa_result_t setVerticalMode ();
 
         uint8_t grayHigh;
         uint8_t grayLow;

src/max31855/max31855.cxx

@@ -36,12 +36,12 @@ using namespace upm;
 MAX31855::MAX31855(int bus, int cs)
 {
     // initialise chip select as a normal gpio
-    m_gpio = maa_gpio_init(cs);
-    maa_gpio_dir(m_gpio, MAA_GPIO_OUT);
+    m_gpio = mraa_gpio_init(cs);
+    mraa_gpio_dir(m_gpio, MRAA_GPIO_OUT);
 
     // initialise the spi bus with a 2Mhz clock
-    m_sensor = maa_spi_init(bus);
-    maa_spi_frequency(m_sensor, 2000000);
+    m_sensor = mraa_spi_init(bus);
+    mraa_spi_frequency(m_sensor, 2000000);
 }
 //! [Constructor]
 
@@ -49,14 +49,14 @@ MAX31855::MAX31855(int bus, int cs)
 MAX31855::~MAX31855()
 {
     // close both m_sensor & m_gpio cleanly
-    maa_result_t error;
-    error = maa_spi_stop(m_sensor);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    mraa_result_t error;
+    error = mraa_spi_stop(m_sensor);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
-    error = maa_gpio_close(m_gpio);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_close(m_gpio);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 }
 //! [Destructor]
@@ -66,7 +66,7 @@ MAX31855::getTemp()
 {
 //! [spi]
     // set chip select low
-    maa_gpio_write(m_gpio, 0);
+    mraa_gpio_write(m_gpio, 0);
 
     uint8_t buf[4];
 
@@ -74,14 +74,14 @@ MAX31855::getTemp()
     memset(buf, 0, sizeof(uint8_t)*4);
 
     // Write buffer to the spi slave
-    uint8_t* x = maa_spi_write_buf(m_sensor, buf, 4);
+    uint8_t* x = mraa_spi_write_buf(m_sensor, buf, 4);
 //! [spi]
 
 //! [conversion]
     // Endian correct way of making our char array into an 32bit int
     int32_t temp = (x[0] << 24) | (x[1] << 16) | (x[2] << 8) | x[3];;
 
-    // maa_spi_write_buf does not free the return buffer
+    // mraa_spi_write_buf does not free the return buffer
     free(x);
 
     if (temp & 0x7) {
@@ -97,7 +97,7 @@ MAX31855::getTemp()
 //! [conversion]
 
     // set chip select high
-    maa_gpio_write(m_gpio, 1);
+    mraa_gpio_write(m_gpio, 1);
 
     return c;
 }

src/max31855/max31855.h

@@ -24,8 +24,8 @@
 #pragma once
 
 #include <string>
-#include <maa/spi.h>
-#include <maa/gpio.h>
+#include <mraa/spi.h>
+#include <mraa/gpio.h>
 
 namespace upm {
 
@@ -61,8 +61,8 @@ class MAX31855 {
         double getTemp();
 
     private:
-        maa_spi_context m_sensor;
-        maa_gpio_context m_gpio;
+        mraa_spi_context m_sensor;
+        mraa_gpio_context m_gpio;
 };
 //! [Interesting]
 

src/max44000/max44000.cxx

@@ -36,10 +36,10 @@ MAX44000::MAX44000 (int bus, int devAddr) {
     m_maxControlAddr = devAddr;
     m_bus = bus;
 
-    m_i2cMaxControlCtx = maa_i2c_init(m_bus);
+    m_i2cMaxControlCtx = mraa_i2c_init(m_bus);
 
-    maa_result_t ret = maa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
-    if (ret != MAA_SUCCESS) {
+    mraa_result_t ret = mraa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
+    if (ret != MRAA_SUCCESS) {
         fprintf(stderr, "Messed up i2c bus\n");
     }
 
@@ -48,7 +48,7 @@ MAX44000::MAX44000 (int bus, int devAddr) {
 }
 
 MAX44000::~MAX44000() {
-    maa_i2c_stop(m_i2cMaxControlCtx);
+    mraa_i2c_stop(m_i2cMaxControlCtx);
 }
 
 uint16_t
@@ -80,11 +80,11 @@ uint8_t
 MAX44000::i2cReadReg_8 (int reg) {
     uint8_t data;
 
-    maa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
-    maa_i2c_write_byte(m_i2cMaxControlCtx, reg);
+    mraa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
+    mraa_i2c_write_byte(m_i2cMaxControlCtx, reg);
 
-    maa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
-    maa_i2c_read(m_i2cMaxControlCtx, &data, 0x1);
+    mraa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
+    mraa_i2c_read(m_i2cMaxControlCtx, &data, 0x1);
 
     return data;
 }
@@ -93,22 +93,22 @@ uint16_t
 MAX44000::i2cReadReg_16 (int reg) {
     uint16_t data;
 
-    maa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
-    maa_i2c_write_byte(m_i2cMaxControlCtx, reg);
+    mraa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
+    mraa_i2c_write_byte(m_i2cMaxControlCtx, reg);
 
-    maa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
-    maa_i2c_read(m_i2cMaxControlCtx, (uint8_t *)&data, 0x2);
+    mraa_i2c_address(m_i2cMaxControlCtx, m_maxControlAddr);
+    mraa_i2c_read(m_i2cMaxControlCtx, (uint8_t *)&data, 0x2);
 
     return data;
 }
 
-maa_result_t
+mraa_result_t
 MAX44000::i2cWriteReg (uint8_t reg, uint8_t value) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     uint8_t data[2] = { reg, value };
-    error = maa_i2c_address (m_i2cMaxControlCtx, m_maxControlAddr);
-    error = maa_i2c_write (m_i2cMaxControlCtx, data, 2);
+    error = mraa_i2c_address (m_i2cMaxControlCtx, m_maxControlAddr);
+    error = mraa_i2c_write (m_i2cMaxControlCtx, data, 2);
 
     return error;
 }

src/max44000/max44000.h

@@ -24,7 +24,7 @@
 #pragma once
 
 #include <string>
-#include <maa/i2c.h>
+#include <mraa/i2c.h>
 
 #define ADDR               0x4A // device address
 
@@ -122,14 +122,14 @@ class MAX44000 {
          * @param reg address of a register
          * @param value byte to be written
          */
-        maa_result_t i2cWriteReg (uint8_t reg, uint8_t value);
+        mraa_result_t i2cWriteReg (uint8_t reg, uint8_t value);
 
     private:
         std::string m_name;
 
         int m_maxControlAddr;
         int m_bus;
-        maa_i2c_context m_i2cMaxControlCtx;
+        mraa_i2c_context m_i2cMaxControlCtx;
 };
 
 }

src/mic/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "mic")
+set (libdescription "Microphone simple API")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/mic/jsupm_mic.i

@@ -0,0 +1,7 @@
+%module jsupm_mic
+
+%{
+    #include "mic.h"
+%}
+
+%include "mic.h"

src/mic/mic.cxx

@@ -0,0 +1,96 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.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 <unistd.h>
+#include <stdlib.h>
+#include <functional>
+#include <string.h>
+#include "mic.h"
+
+using namespace upm;
+
+Microphone::Microphone(int micPin) {
+    // initialise analog mic input
+    m_micCtx = mraa_aio_init(micPin);
+
+
+}
+
+Microphone::~Microphone() {
+    // close analog input
+    mraa_result_t error;
+    error = mraa_aio_close(m_micCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
+    }
+}
+
+int
+Microphone::getSampledWindow (unsigned int freqMS, unsigned int numberOfSamples,
+                            uint16_t * buffer) {
+    int sampleIdx = 0;
+
+    // must have freq
+    if (!freqMS) {
+        return 0;
+    }
+
+    // too much samples
+    if (numberOfSamples > 0xFFFFFF) {
+        return 0;
+    }
+
+    while (sampleIdx < numberOfSamples) {
+        buffer[sampleIdx++] = mraa_aio_read (m_micCtx);
+        usleep(freqMS * 1000);
+    }
+
+    return sampleIdx;
+}
+
+int
+Microphone::findThreshold (thresholdContext* ctx, unsigned int threshold,
+                                uint16_t * buffer, unsigned int len) {
+    long sum = 0;
+    for (unsigned int i = 0; i < len; i++) {
+        sum += buffer[i];
+    }
+
+    ctx->averageReading = sum / len;
+    ctx->runningAverage = (((ctx->averagedOver-1) * ctx->runningAverage) + ctx->averageReading) / ctx->averagedOver;
+
+    if (ctx->runningAverage > threshold) {
+        return ctx->runningAverage;
+    } else {
+        return 0;
+    }
+}
+
+void
+Microphone::printGraph (thresholdContext* ctx) {
+    for (int i = 0; i < ctx->runningAverage; i++)
+        std::cout << ".";
+    std::cout << std::endl;
+}

src/mic/mic.h

@@ -0,0 +1,86 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.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/gpio.h>
+#include <mraa/aio.h>
+
+struct thresholdContext {
+    long averageReading;
+    long runningAverage;
+    int averagedOver;
+};
+
+namespace upm {
+
+/**
+ * @brief C++ API for Microphone
+ *
+ * This file defines the Microphone Analog sensor
+ *
+ * @snippet mic-example.cxx Interesting
+ *
+ */
+class Microphone {
+    public:
+        /**
+         * Instanciates a Microphone object
+         *
+         * @param micPin pin where microphone is connected
+         */
+        Microphone(int micPin);
+
+        /**
+         * MAX31723 object destructor
+         */
+        ~Microphone();
+
+        /**
+         * Get samples from microphone according to provided window and
+         * number of samples
+         *
+         * @return freqMS time between each sample (in microseconds)
+         * @return numberOfSamples number of sample to sample for this window
+         * @return buffer bufer with sampled data
+         */
+        int getSampledWindow (unsigned int freqMS, unsigned int numberOfSamples, uint16_t * buffer);
+
+        /**
+         * Given sampled buffer this method will return TRUE/FALSE if threshold
+         * was reached
+         *
+         * @return threshold sample threshold
+         * @return buffer buffer with samples
+         * @return len bufer len
+         */
+        int findThreshold (thresholdContext* ctx, unsigned int threshold, uint16_t * buffer, unsigned int len);
+
+        void printGraph (thresholdContext* ctx);
+
+    private:
+        mraa_aio_context    m_micCtx;
+};
+
+}

src/mic/pyupm_mic.i

@@ -0,0 +1,10 @@
+%module pyupm_mic
+
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%include "mic.h"
+%{
+    #include "mic.h"
+%}

src/mma7455/mma7455.cxx

@@ -42,10 +42,10 @@ MMA7455::MMA7455 (int bus, int devAddr) {
     m_controlAddr = devAddr;
     m_bus = bus;
 
-    m_i2ControlCtx = maa_i2c_init(m_bus);
+    m_i2ControlCtx = mraa_i2c_init(m_bus);
 
-    maa_result_t error = maa_i2c_address(m_i2ControlCtx, m_controlAddr);
-    if (error != MAA_SUCCESS) {
+    mraa_result_t error = mraa_i2c_address(m_i2ControlCtx, m_controlAddr);
+    if (error != MRAA_SUCCESS) {
         fprintf(stderr, "Messed up i2c bus\n");
         return;
     }
@@ -53,24 +53,24 @@ MMA7455::MMA7455 (int bus, int devAddr) {
     // setting GLVL 0x1 (64LSB/g) and MODE 0x1 (Measurement Mode)
     data = (BIT (MMA7455_GLVL0) | BIT (MMA7455_MODE0));
     error = ic2WriteReg (MMA7455_MCTL, &data, 0x1);
-    if (error != MAA_SUCCESS) {
+    if (error != MRAA_SUCCESS) {
         std::cout << "ERROR :: MMA7455 instance wan not created (Mode)" << std::endl;
         return;
     }
     
-    if (MAA_SUCCESS != calibrate ()) {
+    if (MRAA_SUCCESS != calibrate ()) {
         std::cout << "ERROR :: MMA7455 instance wan not created (Calibrate)" << std::endl;
         return;
     }
 }
 
 MMA7455::~MMA7455() {
-    maa_i2c_stop(m_i2ControlCtx);
+    mraa_i2c_stop(m_i2ControlCtx);
 }
 
-maa_result_t 
+mraa_result_t 
 MMA7455::calibrate () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
     int i = 0;
     
     accelData xyz;
@@ -78,7 +78,7 @@ MMA7455::calibrate () {
     
     do {
         error = readData (&xyz.value.x, &xyz.value.y, &xyz.value.z);
-        if (MAA_SUCCESS != error) {
+        if (MRAA_SUCCESS != error) {
             return error;
         }
         
@@ -87,7 +87,7 @@ MMA7455::calibrate () {
         xyz.value.z += 2 * -(xyz.value.z - 64);
         
         error = ic2WriteReg (MMA7455_XOFFL,  (unsigned char *) &xyz, 0x6);
-        if (error != MAA_SUCCESS) {
+        if (error != MRAA_SUCCESS) {
             return error;
         }
     
@@ -96,7 +96,7 @@ MMA7455::calibrate () {
     return error;
 }
 
-maa_result_t 
+mraa_result_t 
 MMA7455::readData (short * ptrX, short * ptrY, short * ptrZ) {
     accelData xyz;
     unsigned char data = 0;
@@ -104,17 +104,17 @@ MMA7455::readData (short * ptrX, short * ptrY, short * ptrZ) {
     
     /*do {
         nBytes = ic2ReadReg (MMA7455_STATUS, &data, 0x1);
-    } while ( !(data & MMA7455_DRDY) && nBytes == MAA_SUCCESS);
+    } while ( !(data & MMA7455_DRDY) && nBytes == MRAA_SUCCESS);
     
-    if (nBytes == MAA_SUCCESS) {
+    if (nBytes == MRAA_SUCCESS) {
         std::cout << "NO_GDB :: 1" << std::endl;
-        return MAA_SUCCESS;
+        return MRAA_SUCCESS;
     }*/
     
     nBytes = ic2ReadReg (MMA7455_XOUTL, (unsigned char *) &xyz, 0x6);
     if (nBytes == 0) {
         std::cout << "NO_GDB :: 2" << std::endl;
-        return MAA_ERROR_UNSPECIFIED;
+        return MRAA_ERROR_UNSPECIFIED;
     }
     
     if (xyz.reg.x_msb & 0x02) {
@@ -134,40 +134,40 @@ MMA7455::readData (short * ptrX, short * ptrY, short * ptrZ) {
     *ptrY = xyz.value.y;
     *ptrZ = xyz.value.z;
     
-    return MAA_SUCCESS;
+    return MRAA_SUCCESS;
 }
 
 int 
 MMA7455::ic2ReadReg (unsigned char reg, unsigned char * buf, unsigned char size) {
-    if (MAA_SUCCESS != maa_i2c_address(m_i2ControlCtx, m_controlAddr)) {
+    if (MRAA_SUCCESS != mraa_i2c_address(m_i2ControlCtx, m_controlAddr)) {
         return 0;
     }
     
-    if (MAA_SUCCESS != maa_i2c_write_byte(m_i2ControlCtx, reg)) {
+    if (MRAA_SUCCESS != mraa_i2c_write_byte(m_i2ControlCtx, reg)) {
         return 0;
     }
 
-    if (MAA_SUCCESS != maa_i2c_address(m_i2ControlCtx, m_controlAddr)) {
+    if (MRAA_SUCCESS != mraa_i2c_address(m_i2ControlCtx, m_controlAddr)) {
         return 0;
     }
     
-    return (int) maa_i2c_read(m_i2ControlCtx, buf, size);
+    return (int) mraa_i2c_read(m_i2ControlCtx, buf, size);
 }
 
-maa_result_t 
+mraa_result_t 
 MMA7455::ic2WriteReg (unsigned char reg, unsigned char * buf, unsigned char size) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     uint8_t data[size + 1];
     data[0] = reg;
     memcpy(&data[1], buf, size);
 
-    error = maa_i2c_address (m_i2ControlCtx, m_controlAddr);
-    if (error != MAA_SUCCESS) {
+    error = mraa_i2c_address (m_i2ControlCtx, m_controlAddr);
+    if (error != MRAA_SUCCESS) {
         return error;
     }
-    error = maa_i2c_write (m_i2ControlCtx, data, size + 1);
-    if (error != MAA_SUCCESS) {
+    error = mraa_i2c_write (m_i2ControlCtx, data, size + 1);
+    if (error != MRAA_SUCCESS) {
         return error;
     }
 

src/mma7455/mma7455.h

@@ -24,7 +24,7 @@
 #pragma once
 
 #include <string>
-#include <maa/i2c.h>
+#include <mraa/i2c.h>
 
 #define ADDR               0x1D // device address
 
@@ -183,7 +183,7 @@ class MMA7455 {
         /**
          * Calibrate the sensor
          */
-        maa_result_t calibrate ();
+        mraa_result_t calibrate ();
         
         /**
          * Read X, Y and Z acceleration data
@@ -192,7 +192,7 @@ class MMA7455 {
          * @param ptrY Y axis
          * @param ptrZ Z axis
          */
-        maa_result_t readData (short * ptrX, short * ptrY, short * ptrZ);
+        mraa_result_t readData (short * ptrX, short * ptrY, short * ptrZ);
         
         /**
          * 
@@ -210,14 +210,14 @@ class MMA7455 {
          * @param buf register data buffer 
          * @param size buffer size
          */
-        maa_result_t ic2WriteReg (unsigned char reg, unsigned char * buf, unsigned char size);
+        mraa_result_t ic2WriteReg (unsigned char reg, unsigned char * buf, unsigned char size);
 
     private:
         std::string m_name;
 
         int              m_controlAddr;
         int              m_bus;
-        maa_i2c_context  m_i2ControlCtx;
+        mraa_i2c_context  m_i2ControlCtx;
 };
 
 }

src/mpu9150/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "mpu9150")
+set (libdescription "giro, acceleromter and magnometer sensor based on mpu9150")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/mpu9150/jsupm_mpu9150.i

@@ -0,0 +1,7 @@
+%module jsupm_mpu9150
+
+%{
+    #include "mpu9150.h"
+%}
+
+%include "mpu9150.h"

src/mpu9150/mpu9150.cxx

@@ -0,0 +1,226 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+ * 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
+ *
+ * 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 <unistd.h>
+#include <stdlib.h>
+
+#include "mpu9150.h"
+
+using namespace upm;
+
+MPU9150::MPU9150 (int bus, int devAddr) {
+    m_name = "MPU9150";
+
+    m_i2cAddr = devAddr;
+    m_bus = bus;
+
+    m_i2Ctx = mraa_i2c_init(m_bus);
+
+    mraa_result_t ret = mraa_i2c_address(m_i2Ctx, m_i2cAddr);
+    if (ret != MRAA_SUCCESS) {
+        fprintf(stderr, "Messed up i2c bus\n");
+    }
+
+    initSensor ();
+}
+
+MPU9150::~MPU9150() {
+    mraa_i2c_stop(m_i2Ctx);
+}
+
+mraa_result_t
+MPU9150::initSensor () {
+    uint8_t regData = 0x0;
+
+    // setClockSource
+    updateRegBits ( MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT,
+                    MPU6050_PWR1_CLKSEL_LENGTH, MPU6050_CLOCK_PLL_XGYRO);
+    // setFullScaleGyroRange
+    updateRegBits ( MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT,
+                    MPU6050_GCONFIG_FS_SEL_LENGTH, MPU6050_GYRO_FS_250);
+    // setFullScaleAccelRange
+    updateRegBits ( MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT,
+                    MPU6050_ACONFIG_AFS_SEL_LENGTH, MPU6050_ACCEL_FS_2);
+    // setSleepEnabled
+    i2cReadReg_N (MPU6050_RA_PWR_MGMT_1, 0x1, &regData);
+    regData &= ~(1 << MPU6050_PWR1_SLEEP_BIT);
+    i2cWriteReg (MPU6050_RA_PWR_MGMT_1, regData);
+
+    return MRAA_SUCCESS;
+}
+
+uint8_t
+MPU9150::getDeviceID () {
+    uint8_t regData = 0x0;
+    getRegBits (MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, &regData);
+    return regData;
+}
+
+mraa_result_t
+MPU9150::getData () {
+    uint8_t buffer[14];
+
+    for (int i = 0; i < SMOOTH_TIMES; i++) {
+        i2cReadReg_N (MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+        axisAcceleromter.rawData.axisX  = (((int16_t)buffer[0]) << 8)  | buffer[1];
+        axisAcceleromter.rawData.axisY  = (((int16_t)buffer[2]) << 8)  | buffer[3];
+        axisAcceleromter.rawData.axisZ  = (((int16_t)buffer[4]) << 8)  | buffer[5];
+        axisAcceleromter.sumData.axisX  += (double) axisAcceleromter.rawData.axisX / 16384;
+        axisAcceleromter.sumData.axisY  += (double) axisAcceleromter.rawData.axisY / 16384;
+        axisAcceleromter.sumData.axisZ  += (double) axisAcceleromter.rawData.axisZ / 16384;
+
+        axisGyroscope.rawData.axisX     = (((int16_t)buffer[8]) << 8)  | buffer[9];
+        axisGyroscope.rawData.axisY     = (((int16_t)buffer[10]) << 8) | buffer[11];
+        axisGyroscope.rawData.axisZ     = (((int16_t)buffer[12]) << 8) | buffer[13];
+        axisGyroscope.sumData.axisX     += (double) axisAcceleromter.rawData.axisX * 250 / 32768;
+        axisGyroscope.sumData.axisY     += (double) axisAcceleromter.rawData.axisY * 250 / 32768;
+        axisGyroscope.sumData.axisZ     += (double) axisAcceleromter.rawData.axisZ * 250 / 32768;
+
+        i2cWriteReg (MPU6050_RA_INT_PIN_CFG, 0x02);
+        usleep (10000);
+        m_i2cAddr = MPU9150_RA_MAG_ADDRESS;
+        i2cWriteReg (0x0A, 0x01);
+        usleep (10000);
+        i2cReadReg_N (MPU9150_RA_MAG_XOUT_L, 6, buffer);
+        m_i2cAddr = ADDR;
+
+        axisMagnetomer.rawData.axisX  = (((int16_t)buffer[0]) << 8)  | buffer[1];
+        axisMagnetomer.rawData.axisY  = (((int16_t)buffer[2]) << 8)  | buffer[3];
+        axisMagnetomer.rawData.axisZ  = (((int16_t)buffer[4]) << 8)  | buffer[5];
+        axisMagnetomer.sumData.axisX  += (double) axisMagnetomer.rawData.axisX * 1200 / 4096;
+        axisMagnetomer.sumData.axisY  += (double) axisMagnetomer.rawData.axisY * 1200 / 4096;
+        axisMagnetomer.sumData.axisZ  += (double) axisMagnetomer.rawData.axisZ * 1200 / 4096;
+    }
+
+    axisAcceleromter.data.axisX = axisAcceleromter.sumData.axisX / SMOOTH_TIMES;
+    axisAcceleromter.data.axisY = axisAcceleromter.sumData.axisY / SMOOTH_TIMES;
+    axisAcceleromter.data.axisZ = axisAcceleromter.sumData.axisZ / SMOOTH_TIMES;
+
+    axisGyroscope.data.axisX = axisGyroscope.sumData.axisX / SMOOTH_TIMES;
+    axisGyroscope.data.axisY = axisGyroscope.sumData.axisY / SMOOTH_TIMES;
+    axisGyroscope.data.axisZ = axisGyroscope.sumData.axisZ / SMOOTH_TIMES;
+
+    axisMagnetomer.data.axisX = axisMagnetomer.sumData.axisX / SMOOTH_TIMES;
+    axisMagnetomer.data.axisY = axisMagnetomer.sumData.axisY / SMOOTH_TIMES;
+    axisMagnetomer.data.axisZ = axisMagnetomer.sumData.axisZ / SMOOTH_TIMES;
+}
+
+mraa_result_t
+MPU9150::getAcceleromter (Vector3D * data) {
+    data->axisX = axisAcceleromter.data.axisX;
+    data->axisY = axisAcceleromter.data.axisY;
+    data->axisZ = axisAcceleromter.data.axisZ;
+
+    return MRAA_SUCCESS;
+}
+
+mraa_result_t
+MPU9150::getGyro (Vector3D * data) {
+    data->axisX = axisGyroscope.data.axisX;
+    data->axisY = axisGyroscope.data.axisY;
+    data->axisZ = axisGyroscope.data.axisZ;
+
+    return MRAA_SUCCESS;
+}
+
+mraa_result_t
+MPU9150::getMagnometer (Vector3D * data) {
+    data->axisX = axisMagnetomer.data.axisX;
+    data->axisY = axisMagnetomer.data.axisY;
+    data->axisZ = axisMagnetomer.data.axisZ;
+
+    return MRAA_SUCCESS;
+}
+
+float
+MPU9150::getTemperature () {
+    uint8_t buffer[2];
+    uint16_t tempRaw = 0;
+
+    updateRegBits (MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, 0x1, 0x0);
+    i2cReadReg_N (MPU6050_RA_TEMP_OUT_H, 2, buffer);
+    tempRaw = (((int16_t)buffer[0]) << 8) | buffer[1];
+
+    return (float)tempRaw / 340.0 + 35.0;
+}
+
+/*
+ * **************
+ *  private area
+ * **************
+ */
+uint16_t
+MPU9150::i2cReadReg_N (int reg, unsigned int len, uint8_t * buffer) {
+    int readByte = 0;
+    mraa_i2c_address(m_i2Ctx, m_i2cAddr);
+    mraa_i2c_write_byte(m_i2Ctx, reg);
+
+    mraa_i2c_address(m_i2Ctx, m_i2cAddr);
+    readByte = mraa_i2c_read(m_i2Ctx, buffer, len);
+    return readByte;
+}
+
+mraa_result_t
+MPU9150::i2cWriteReg (uint8_t reg, uint8_t value) {
+    mraa_result_t error = MRAA_SUCCESS;
+
+    uint8_t data[2] = { reg, value };
+    error = mraa_i2c_address (m_i2Ctx, m_i2cAddr);
+    error = mraa_i2c_write (m_i2Ctx, data, 2);
+
+    return error;
+}
+
+int
+MPU9150::updateRegBits (uint8_t reg, uint8_t bitStart, uint8_t length, uint16_t data) {
+    uint8_t regData;
+
+    if (i2cReadReg_N (reg, 0x1, &regData) != 0) {
+        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        data <<= (bitStart - length + 1); // shift data into correct position
+        data &= mask; // zero all non-important bits in data
+        regData &= ~(mask); // zero all important bits in existing byte
+        regData |= data; // combine data with existing byte
+        return i2cWriteReg (reg, regData);
+    } else {
+        return 0x0;
+    }
+}
+
+uint8_t
+MPU9150::getRegBits (uint8_t reg, uint8_t bitStart, uint8_t length, uint8_t * data) {
+    uint8_t count = 0;
+    uint8_t regData;
+    if (i2cReadReg_N (reg, 0x1, &regData) != 0) {
+        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        regData &= mask;
+        regData >>= (bitStart - length + 1);
+        *data = regData;
+    }
+    return count;
+}

src/mpu9150/mpu9150.h

@@ -0,0 +1,196 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+ * 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
+ *
+ * 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/i2c.h>
+
+#define MPU6050_ADDRESS_AD0_LOW             0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH            0x69 // address pin high (VCC)
+#define ADDR                                MPU6050_ADDRESS_AD0_LOW // device address
+
+// registers address
+#define MPU6050_CLOCK_PLL_XGYRO             0x01
+#define MPU6050_GYRO_FS_250                 0x00
+#define MPU6050_ACCEL_FS_2                  0x00
+#define MPU6050_RA_INT_PIN_CFG              0x37
+
+#define MPU6050_RA_ACCEL_XOUT_H             0x3B
+#define MPU6050_RA_ACCEL_XOUT_L             0x3C
+#define MPU6050_RA_ACCEL_YOUT_H             0x3D
+#define MPU6050_RA_ACCEL_YOUT_L             0x3E
+#define MPU6050_RA_ACCEL_ZOUT_H             0x3F
+#define MPU6050_RA_ACCEL_ZOUT_L             0x40
+#define MPU6050_RA_TEMP_OUT_H               0x41
+#define MPU6050_RA_TEMP_OUT_L               0x42
+#define MPU6050_RA_GYRO_XOUT_H              0x43
+#define MPU6050_RA_GYRO_XOUT_L              0x44
+#define MPU6050_RA_GYRO_YOUT_H              0x45
+#define MPU6050_RA_GYRO_YOUT_L              0x46
+#define MPU6050_RA_GYRO_ZOUT_H              0x47
+#define MPU6050_RA_GYRO_ZOUT_L              0x48
+
+#define MPU6050_RA_CONFIG                   0x1A
+#define MPU6050_CFG_DLPF_CFG_BIT            2
+#define MPU6050_CFG_DLPF_CFG_LENGTH         3
+
+#define MPU6050_RA_GYRO_CONFIG              0x1B
+#define MPU6050_GCONFIG_FS_SEL_BIT          4
+#define MPU6050_GCONFIG_FS_SEL_LENGTH       2
+
+#define MPU6050_RA_ACCEL_CONFIG             0x1C
+#define MPU6050_ACONFIG_AFS_SEL_BIT         4
+#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
+
+// magnotometer
+#define MPU9150_RA_MAG_ADDRESS              0x0C
+#define MPU9150_RA_MAG_XOUT_L               0x03
+
+#define MPU6050_RA_PWR_MGMT_1               0x6B
+#define MPU6050_PWR1_CLKSEL_BIT             2
+#define MPU6050_PWR1_CLKSEL_LENGTH          3
+#define MPU6050_PWR1_SLEEP_BIT              6
+
+#define MPU6050_RA_INT_PIN_CFG              0x37
+
+// temperature
+#define MPU6050_PWR1_TEMP_DIS_BIT           3
+#define MPU6050_RA_WHO_AM_I                 0x75
+#define MPU6050_WHO_AM_I_BIT                6
+#define MPU6050_WHO_AM_I_LENGTH             6
+
+#define SMOOTH_TIMES                        10.0
+
+#define HIGH               1
+#define LOW                0
+
+namespace upm {
+
+struct Vector3DRaw {
+    uint16_t axisX;
+    uint16_t axisY;
+    uint16_t axisZ;
+};
+
+struct Vector3D {
+    double axisX;
+    double axisY;
+    double axisZ;
+};
+
+struct AxisData {
+    Vector3DRaw rawData;
+    Vector3D    sumData;
+    Vector3D    data;
+};
+
+/**
+ * @brief C++ API for MPU9150 chip (Accelrometer, Gyro and Magnometer Sensor)
+ *
+ * This file defines the MPU9150 C++ interface for libmpu9150
+ *
+ * @snippet mpu9150-example.cxx Interesting
+ */
+class MPU9150 {
+    public:
+        /**
+         * Instanciates a MPU9150 object
+         *
+         * @param bus number of used bus
+         * @param devAddr addres of used i2c device
+         */
+        MPU9150 (int bus, int devAddr);
+
+        /**
+         * MPU9150 object destructor, basicaly it close i2c connection.
+         */
+        ~MPU9150 ();
+
+        /**
+         * Initiate MPU9150 chips
+         */
+        mraa_result_t initSensor ();
+
+        /**
+         * Get identity of the device
+         */
+        uint8_t getDeviceID ();
+
+        /**
+         * Get the Accelerometer, Gyro and Compass data from the chip and
+         * save it in private section.
+         */
+        mraa_result_t getData ();
+
+        /**
+         * @param data structure with 3 axis (x,y,z)
+         */
+        mraa_result_t getAcceleromter (Vector3D * data);
+
+        /**
+         * @param data structure with 3 axis (x,y,z)
+         */
+        mraa_result_t getGyro (Vector3D * data);
+
+        /**
+         * @param data structure with 3 axis (x,y,z)
+         */
+        mraa_result_t getMagnometer (Vector3D * data);
+
+        /**
+         * Read on die temperature from the chip
+         */
+        float getTemperature ();
+
+        /**
+         * Return name of the component
+         */
+        std::string name()
+        {
+            return m_name;
+        }
+
+    private:
+        std::string m_name;
+
+        int m_i2cAddr;
+        int m_bus;
+        mraa_i2c_context m_i2Ctx;
+
+        AxisData axisMagnetomer;
+        AxisData axisAcceleromter;
+        AxisData axisGyroscope;
+
+        uint16_t i2cReadReg_N (int reg, unsigned int len, uint8_t * buffer);
+        mraa_result_t i2cWriteReg (uint8_t reg, uint8_t value);
+        int updateRegBits (uint8_t reg, uint8_t bitStart,
+                                    uint8_t length, uint16_t data);
+        uint8_t getRegBits (uint8_t reg, uint8_t bitStart,
+                                    uint8_t length, uint8_t * data);
+};
+
+}

src/mpu9150/pyupm_mpu9150.i

@@ -0,0 +1,10 @@
+%module pyupm_mpu9150
+
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%include "mpu9150.h"
+%{
+    #include "mpu9150.h"
+%}

src/my9221/my9221.cxx

@@ -31,51 +31,51 @@
 using namespace upm;
 
 MY9221::MY9221 (uint8_t di, uint8_t dcki) {
-    maa_result_t error = MAA_SUCCESS;
-    maa_init();
+    mraa_result_t error = MRAA_SUCCESS;
+    mraa_init();
 
     // init clock context
-    m_clkPinCtx = maa_gpio_init(dcki);
+    m_clkPinCtx = mraa_gpio_init(dcki);
     if (m_clkPinCtx == NULL) {
         fprintf(stderr, "Are you sure that pin%d you requested is valid on your platform?", dcki);
         exit(1);
     }
     // init data context
-    m_dataPinCtx = maa_gpio_init(di);
+    m_dataPinCtx = mraa_gpio_init(di);
     if (m_dataPinCtx == NULL) {
         fprintf(stderr, "Are you sure that pin%d you requested is valid on your platform?", di);
         exit(1);
     }
     
     // set direction (out)
-    error = maa_gpio_dir(m_clkPinCtx, MAA_GPIO_OUT);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_dir(m_clkPinCtx, MRAA_GPIO_OUT);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 
     // set direction (out)
-    error = maa_gpio_dir(m_dataPinCtx, MAA_GPIO_OUT);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_dir(m_dataPinCtx, MRAA_GPIO_OUT);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 }
 
 MY9221::~MY9221() {
-    maa_result_t error = MAA_SUCCESS;
-    error = maa_gpio_close (m_dataPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    mraa_result_t error = MRAA_SUCCESS;
+    error = mraa_gpio_close (m_dataPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
-    error = maa_gpio_close (m_clkPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_close (m_clkPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 }
 
-maa_result_t
+mraa_result_t
 MY9221::setBarLevel (uint8_t level) {
     if (level > 10) {
-        return MAA_ERROR_INVALID_PARAMETER;
+        return MRAA_ERROR_INVALID_PARAMETER;
     }
 
     send16bitBlock (CMDMODE);
@@ -86,25 +86,25 @@ MY9221::setBarLevel (uint8_t level) {
     lockData ();
 }
 
-maa_result_t
+mraa_result_t
 MY9221::lockData () {
-    maa_result_t error = MAA_SUCCESS;
-    error = maa_gpio_write (m_dataPinCtx, LOW);
+    mraa_result_t error = MRAA_SUCCESS;
+    error = mraa_gpio_write (m_dataPinCtx, LOW);
     usleep(100);
     
     for(int idx = 0; idx < 4; idx++) {
-        error = maa_gpio_write (m_dataPinCtx, HIGH);
-        error = maa_gpio_write (m_dataPinCtx, LOW);
+        error = mraa_gpio_write (m_dataPinCtx, HIGH);
+        error = mraa_gpio_write (m_dataPinCtx, LOW);
     }
 }
 
-maa_result_t
+mraa_result_t
 MY9221::send16bitBlock (short data) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
     for (uint8_t bit_idx = 0; bit_idx < MAX_BIT_PER_BLOCK; bit_idx++) {
         uint32_t state = (data & 0x8000) ? HIGH : LOW;
-        error = maa_gpio_write (m_dataPinCtx, state);
-        state = maa_gpio_read (m_clkPinCtx);
+        error = mraa_gpio_write (m_dataPinCtx, state);
+        state = mraa_gpio_read (m_clkPinCtx);
 
         if (state) {
             state = LOW;
@@ -112,7 +112,7 @@ MY9221::send16bitBlock (short data) {
             state = HIGH;
         }
 
-        error = maa_gpio_write (m_clkPinCtx, state);
+        error = mraa_gpio_write (m_clkPinCtx, state);
 
         data <<= 1;
     }

src/my9221/my9221.h

@@ -24,8 +24,8 @@
 #pragma once
 
 #include <string>
-#include <maa/aio.h>
-#include <maa/gpio.h>
+#include <mraa/aio.h>
+#include <mraa/gpio.h>
 
 #define MAX_BIT_PER_BLOCK     16
 #define CMDMODE               0x0000
@@ -64,7 +64,7 @@ class MY9221 {
          *
          * @param level selected level for the bar (1 - 10)
          */
-        maa_result_t setBarLevel (uint8_t level);
+        mraa_result_t setBarLevel (uint8_t level);
 
         /**
          * Return name of the component
@@ -74,12 +74,12 @@ class MY9221 {
             return m_name;
         }
     private:
-        maa_result_t lockData ();
-        maa_result_t send16bitBlock (short data);
+        mraa_result_t lockData ();
+        mraa_result_t send16bitBlock (short data);
 
         std::string m_name;
-        maa_gpio_context m_clkPinCtx;
-        maa_gpio_context m_dataPinCtx;
+        mraa_gpio_context m_clkPinCtx;
+        mraa_gpio_context m_dataPinCtx;
 };
 
 }

src/nrf24l01/nrf24l01.cxx

@@ -31,58 +31,58 @@
 using namespace upm;
 
 NRF24l01::NRF24l01 (uint8_t cs) {
-    maa_init();
+    mraa_init();
     nrfInitModule (cs, 8);
 }
 
 NRF24l01::~NRF24l01 () {
-    maa_result_t error = MAA_SUCCESS;
-    error = maa_spi_stop(m_spi);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    mraa_result_t error = MRAA_SUCCESS;
+    error = mraa_spi_stop(m_spi);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
-    error = maa_gpio_close (m_cePinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_close (m_cePinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
-    error = maa_gpio_close (m_csnPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_close (m_csnPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 }
 
 void
 NRF24l01::nrfInitModule (uint8_t chip_select, uint8_t chip_enable) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     m_csn         = chip_select;
     m_ce         = chip_enable;
     m_channel     = 1;
 
-    m_csnPinCtx = maa_gpio_init (m_csn);
+    m_csnPinCtx = mraa_gpio_init (m_csn);
     if (m_csnPinCtx == NULL) {
         fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_csn);
         exit (1);
     }
 
-    m_cePinCtx = maa_gpio_init (m_ce);
+    m_cePinCtx = mraa_gpio_init (m_ce);
     if (m_cePinCtx == NULL) {
         fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_ce);
         exit (1);
     }
 
-    error = maa_gpio_dir (m_csnPinCtx, MAA_GPIO_OUT);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_dir (m_csnPinCtx, MRAA_GPIO_OUT);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
-    error = maa_gpio_dir (m_cePinCtx, MAA_GPIO_OUT);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_dir (m_cePinCtx, MRAA_GPIO_OUT);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
     nrfCELow ();
-    m_spi = maa_spi_init (0);
+    m_spi = mraa_spi_init (0);
 }
 
 void
@@ -105,8 +105,8 @@ NRF24l01::nrfConfigModule() {
 void
 NRF24l01::nrfConfigRegister(uint8_t reg, uint8_t value) {
     nrfCSOn ();
-    maa_spi_write (m_spi, W_REGISTER | (REGISTER_MASK & reg));
-    maa_spi_write (m_spi, value);
+    mraa_spi_write (m_spi, W_REGISTER | (REGISTER_MASK & reg));
+    mraa_spi_write (m_spi, value);
     nrfCSOff ();
 }
 
@@ -122,7 +122,7 @@ NRF24l01::nrfPowerUpRX() {
 void
 NRF24l01::nrfFlushRX() {
     nrfCSOn ();
-    maa_spi_write (m_spi, FLUSH_RX);
+    mraa_spi_write (m_spi, FLUSH_RX);
     nrfCSOff ();
 }
 
@@ -160,7 +160,7 @@ void
 NRF24l01::nrfWriteRegister(uint8_t reg, uint8_t * value, uint8_t len)
 {
     nrfCSOn ();
-    maa_spi_write (m_spi, W_REGISTER | (REGISTER_MASK & reg));
+    mraa_spi_write (m_spi, W_REGISTER | (REGISTER_MASK & reg));
     nrfTransmitSync(value, len);
     nrfCSOff ();
 }
@@ -169,7 +169,7 @@ void
 NRF24l01::nrfTransmitSync(uint8_t *dataout, uint8_t len){
     uint8_t i;
     for(i = 0; i < len; i++) {
-        maa_spi_write (m_spi, dataout[i]);
+        mraa_spi_write (m_spi, dataout[i]);
     }
 }
 
@@ -196,7 +196,7 @@ void
 NRF24l01::nrfReadRegister (uint8_t reg, uint8_t * value, uint8_t len)
 {
     nrfCSOn ();
-    maa_spi_write (m_spi, R_REGISTER | (REGISTER_MASK & reg));
+    mraa_spi_write (m_spi, R_REGISTER | (REGISTER_MASK & reg));
     nrfTransferSync (value, value, len);
     nrfCSOff ();
 }
@@ -205,7 +205,7 @@ void
 NRF24l01::nrfTransferSync (uint8_t *dataout,uint8_t *datain,uint8_t len) {
     uint8_t i;
     for(i = 0;i < len;i++) {
-        datain[i] = maa_spi_write (m_spi, dataout[i]);
+        datain[i] = mraa_spi_write (m_spi, dataout[i]);
     }
 }
 
@@ -222,7 +222,7 @@ NRF24l01::nrfGetData (uint8_t * data)
 {
     nrfCSOn ();
     /* Send cmd to read rx payload */
-    maa_spi_write (m_spi, R_RX_PAYLOAD);
+    mraa_spi_write (m_spi, R_RX_PAYLOAD);
     /* Read payload */
     nrfTransferSync(data, data, m_payload);
     nrfCSOff ();
@@ -248,11 +248,11 @@ NRF24l01::nrfSend(uint8_t * value) {
     nrfCELow();
     nrfPowerUpTX();                            // Set to transmitter mode , Power up
     nrfCSOn ();
-    maa_spi_write (m_spi, FLUSH_TX);        // Write cmd to flush tx fifo
+    mraa_spi_write (m_spi, FLUSH_TX);        // Write cmd to flush tx fifo
     nrfCSOff ();
 
     nrfCSOn ();
-    maa_spi_write (m_spi, W_TX_PAYLOAD);     // Write cmd to write payload
+    mraa_spi_write (m_spi, W_TX_PAYLOAD);     // Write cmd to write payload
     nrfTransmitSync(value, m_payload);        // Write payload
     nrfCSOff ();
     nrfCEHigh();                            // Start transmission
@@ -290,24 +290,24 @@ NRF24l01::nrfPowerDown () {
     nrfConfigRegister (CONFIG, NRF_CONFIG);
 }
 
-maa_result_t
+mraa_result_t
 NRF24l01::nrfCEHigh () {
-    return maa_gpio_write (m_cePinCtx, HIGH);
+    return mraa_gpio_write (m_cePinCtx, HIGH);
 }
 
-maa_result_t
+mraa_result_t
 NRF24l01::nrfCELow () {
-    return maa_gpio_write (m_cePinCtx, LOW);
+    return mraa_gpio_write (m_cePinCtx, LOW);
 }
 
-maa_result_t
+mraa_result_t
 NRF24l01::nrfCSOn () {
-    return maa_gpio_write (m_csnPinCtx, LOW);
+    return mraa_gpio_write (m_csnPinCtx, LOW);
 }
 
-maa_result_t
+mraa_result_t
 NRF24l01::nrfCSOff () {
-    return maa_gpio_write (m_csnPinCtx, HIGH);
+    return mraa_gpio_write (m_csnPinCtx, HIGH);
 }
 
 void

src/nrf24l01/nrf24l01.h

@@ -24,9 +24,9 @@
 #pragma once
 
 #include <string>
-#include <maa/aio.h>
-#include <maa/gpio.h>
-#include <maa/spi.h>
+#include <mraa/aio.h>
+#include <mraa/gpio.h>
+#include <mraa/spi.h>
 
 /* Memory Map */
 #define CONFIG              0x00
@@ -297,22 +297,22 @@ class NRF24l01 {
         /**
          * Set chip enable pin HIGH
          */
-        maa_result_t nrfCEHigh ();
+        mraa_result_t nrfCEHigh ();
 
         /**
          * Set chip enable LOW
          */
-        maa_result_t nrfCELow ();
+        mraa_result_t nrfCELow ();
 
         /**
          * Set chip select pin LOW
          */
-        maa_result_t nrfCSOn ();
+        mraa_result_t nrfCSOn ();
 
         /**
          * Set chip select pin HIGH
          */
-        maa_result_t nrfCSOff ();
+        mraa_result_t nrfCSOff ();
 
         /**
          * Flush reciver stack
@@ -330,7 +330,7 @@ class NRF24l01 {
 
         funcPtrVoidVoid dataRecievedHandler; /**< Data arrived handler */
     private:
-        maa_spi_context        m_spi;
+        mraa_spi_context        m_spi;
         uint8_t                m_ce;
         uint8_t                m_csn;
         uint8_t                m_channel;
@@ -338,8 +338,8 @@ class NRF24l01 {
         uint8_t                m_payload;
         uint8_t                m_localAddress[5];
 
-        maa_gpio_context     m_csnPinCtx;
-        maa_gpio_context     m_cePinCtx;
+        mraa_gpio_context     m_csnPinCtx;
+        mraa_gpio_context     m_cePinCtx;
 
         std::string         m_name;
 };

src/pulsensor/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "pulsensor")
+set (libdescription "upm PULSENSOR")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/pulsensor/jsupm_pulsensor.i

@@ -0,0 +1,7 @@
+%module jsupm_pulsensor
+
+%{
+    #include "pulsensor.h"
+%}
+
+%include "pulsensor.h"

src/pulsensor/pulsensor.cxx

@@ -0,0 +1,147 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 <stdlib.h>
+#include "pulsensor.h"
+
+void init_pulsensor (pulsensor_context * ctx, callback_handler handler) {
+    ctx->callback = handler;
+    
+    ctx->pin_ctx = mraa_aio_init(0);
+    
+    ctx->sample_counter = 0;
+    ctx->last_beat_time = 0;
+    ctx->threshold      = 512;
+    ctx->ibi            = 600;
+    ctx->trough         = 512;
+    ctx->peak           = 512;
+    ctx->is_pulse       = FALSE;
+    ctx->ret            = FALSE;
+    ctx->bpm            = 0;
+    ctx->qs             = FALSE;
+    ctx->apmlitude      = 100;
+}
+
+void start_sampler (pulsensor_context * ctx) {
+    int error;
+    ctx_counter++;
+    usleep (100000);
+    error = pthread_create (&(ctx->sample_thread), NULL, do_sample, (void *) ctx);
+    if (error != 0) {
+        printf ("ERROR : Cannot created sampler thread.\n");
+    }
+}
+
+void stop_sampler (pulsensor_context * ctx) {
+    ctx_counter--;
+}
+
+void * do_sample (void * arg) {
+    int data_from_sensor;
+    clbk_data callback_data;
+    while (ctx_counter) {
+        pulsensor_context * ctx = (pulsensor_context *) arg;
+        mraa_aio_context pin = ctx->pin_ctx;
+        data_from_sensor = mraa_aio_read (pin);
+        ctx->ret = FALSE;
+        
+        ctx->sample_counter += 2;
+        int N = ctx->sample_counter - ctx->last_beat_time;
+        
+        if (data_from_sensor < ctx->threshold && N > ( ctx->ibi / 5)* 3) {
+            if (data_from_sensor < ctx->trough) {
+                ctx->trough = data_from_sensor;
+            }
+        }
+        
+        if (data_from_sensor > ctx->threshold && data_from_sensor > ctx->peak) {
+            ctx->peak = data_from_sensor;
+        }
+        
+        if (N > 250) {
+            // printf ("(NO_GDB) DEBUG\n");
+            if ( (data_from_sensor > ctx->threshold) && 
+                    (ctx->is_pulse == FALSE) && 
+                    (N > (ctx->ibi / 5)* 3) ) {
+                ctx->is_pulse = callback_data.is_heart_beat = TRUE;
+                ((pulsensor_context *) arg)->callback(callback_data);
+                
+                ctx->ibi = ctx->sample_counter - ctx->last_beat_time;
+                ctx->last_beat_time = ctx->sample_counter;
+                
+                // second beat
+                if (ctx->second_beat) {
+                    ctx->second_beat = FALSE;
+                    for (int i = 0; i <= 9; i++) {
+                        ctx->ibi_rate[i] = ctx->ibi;                      
+                    }
+                }
+                
+                // first beat
+                if (ctx->first_beat) {
+                    ctx->first_beat  = FALSE;
+                    ctx->second_beat = TRUE;
+                    ctx->ret = TRUE;
+                } else {                    
+                    uint32_t running_total = 0;
+                    for(int i = 0; i <= 8; i++){
+                        ctx->ibi_rate[i] = ctx->ibi_rate[i+1];
+                        running_total += ctx->ibi_rate[i];
+                    }
+                    
+                    ctx->ibi_rate[9] = ctx->ibi;
+                    running_total += ctx->ibi_rate[9];
+                    running_total /= 10;
+                    ctx->bpm = 60000 / running_total;
+                    ctx->qs = TRUE;
+                }
+            }
+        }
+        
+        if (ctx->ret == FALSE) {
+            if (data_from_sensor < ctx->threshold && ctx->is_pulse == TRUE) {
+                ctx->is_pulse = callback_data.is_heart_beat = FALSE;
+                ((pulsensor_context *) arg)->callback(callback_data);
+                
+                ctx->is_pulse   = FALSE;
+                ctx->apmlitude  = ctx->peak - ctx->trough;
+                ctx->threshold  = ctx->apmlitude / 2 + ctx->trough;
+                ctx->peak       = ctx->threshold;
+                ctx->trough     = ctx->threshold;
+            }
+
+            if (N > 2500) {
+                ctx->threshold      = 512;
+                ctx->peak           = 512;
+                ctx->trough         = 512;
+                ctx->last_beat_time = ctx->sample_counter;    
+                ctx->first_beat     = TRUE;
+                ctx->second_beat    = FALSE;
+            }
+        }
+        
+        usleep (2000);
+    }
+}

src/pulsensor/pulsensor.h

@@ -0,0 +1,76 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Credits to Adafruit.
+ * Based on Adafruit BMP085 library.
+ *
+ * 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 <math.h>
+#include <mraa/pwm.h>
+#include <mraa/aio.h>
+#include <mraa/gpio.h>
+#include <pthread.h>
+
+#define HIGH               1
+#define LOW                0
+
+#define TRUE               HIGH
+#define FALSE              LOW
+
+struct clbk_data {
+    int is_heart_beat;
+};
+
+typedef void (* callback_handler) (clbk_data);
+
+struct pulsensor_context {
+    pthread_t        sample_thread;
+    uint32_t         sample_counter;
+    uint32_t         last_beat_time;
+    int              threshold;
+    int              ibi_rate[10];
+    int              ibi;
+    int              trough;
+    int              peak;
+    int              bpm;
+    int              apmlitude;
+    uint8_t          qs;
+    uint8_t          is_pulse;
+    uint8_t          first_beat;
+    uint8_t          second_beat;
+    uint8_t          pin;
+    uint8_t          ret;
+    mraa_aio_context  pin_ctx;
+    
+    callback_handler callback;
+};
+
+static volatile uint16_t ctx_counter = 0;
+
+void init_pulsensor (pulsensor_context * ctx, callback_handler handler);
+void start_sampler (pulsensor_context * ctx);
+void stop_sampler (pulsensor_context * ctx);
+
+void * do_sample (void * arg);

src/pulsensor/pyupm_pulsensor.i

@@ -0,0 +1,10 @@
+%module pyupm_pulsensor
+
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%include "pulsensor.h"
+%{
+    #include "pulsensor.h"
+%}

src/servo/servo.cxx

@@ -32,7 +32,7 @@
 using namespace upm;
 
 Servo::Servo (int pin) {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     m_minPulseWidth   = MIN_PULSE_WIDTH;
     m_maxPulseWidth   = MAX_PULSE_WIDTH;
@@ -40,7 +40,7 @@ Servo::Servo (int pin) {
 
     m_maxAngle        = 180.0;
     m_servoPin        = pin;
-    m_pwmServoContext = maa_pwm_init (m_servoPin);
+    m_pwmServoContext = mraa_pwm_init (m_servoPin);
     
     m_currAngle = 180;
     
@@ -48,7 +48,7 @@ Servo::Servo (int pin) {
 }
 
 Servo::~Servo () {
-    maa_pwm_close (m_pwmServoContext);
+    mraa_pwm_close (m_pwmServoContext);
 }
 
 /*
@@ -62,14 +62,14 @@ Servo::~Servo () {
  * Max period can be only 7968750(nses) which is ~8(msec)
  * so the servo wil not work as expected.
  * */
-maa_result_t Servo::setAngle (int angle) {
+mraa_result_t Servo::setAngle (int angle) {
     if (m_pwmServoContext == NULL) {
         std::cout << "PWM context is NULL" << std::endl;
-        return MAA_ERROR_UNSPECIFIED;
+        return MRAA_ERROR_UNSPECIFIED;
     }
     
     if (angle > m_maxAngle || angle < 0) {
-        return MAA_ERROR_UNSPECIFIED;
+        return MRAA_ERROR_UNSPECIFIED;
     }
 
     int period = (m_maxPulseWidth - m_minPulseWidth) / m_maxAngle;
@@ -78,12 +78,12 @@ maa_result_t Servo::setAngle (int angle) {
 
     // int cycles = (int)(100.0 * ((float)angle / (float)m_maxAngle));
 
-    maa_pwm_enable (m_pwmServoContext, 1);
+    mraa_pwm_enable (m_pwmServoContext, 1);
     for (int cycle = 0; cycle < cycles; cycle++) {
-        maa_pwm_period_us (m_pwmServoContext, m_maxPeriod);
-        maa_pwm_pulsewidth_us (m_pwmServoContext, calcPulseTraveling(angle));
+        mraa_pwm_period_us (m_pwmServoContext, m_maxPeriod);
+        mraa_pwm_pulsewidth_us (m_pwmServoContext, calcPulseTraveling(angle));
     }
-    maa_pwm_enable (m_pwmServoContext, 0);
+    mraa_pwm_enable (m_pwmServoContext, 0);
 
     std::cout << "angle = " << angle << " ,pulse = " << calcPulseTraveling(angle) << ", cycles " << cycles << std::endl;
     

src/servo/servo.h

@@ -24,7 +24,7 @@
 #pragma once
 
 #include <string>
-#include <maa/pwm.h>
+#include <mraa/pwm.h>
 
 namespace upm {
 
@@ -70,7 +70,7 @@ class Servo {
          *
          * @param angle number between 0 and 180
          */
-        maa_result_t setAngle (int angle);
+        mraa_result_t setAngle (int angle);
 
         /**
          * Return name of the component
@@ -122,7 +122,7 @@ class Servo {
         std::string         m_name;
         int                 m_servoPin;
         float               m_maxAngle;
-        maa_pwm_context     m_pwmServoContext;
+        mraa_pwm_context     m_pwmServoContext;
         int                 m_currAngle;
         
         int                 m_minPulseWidth;

src/st7735/gfx.cxx

@@ -40,17 +40,17 @@ GFX::GFX (int width, int height, uint8_t * screenBuffer, const unsigned char * f
 GFX::~GFX () {
 }
 
-maa_result_t
+mraa_result_t
 GFX::setPixel (int x, int y, uint16_t color) {
     if((x < 0) ||(x >= m_width) || (y < 0) || (y >= m_height)) {
-        return MAA_ERROR_UNSPECIFIED;
+        return MRAA_ERROR_UNSPECIFIED;
     }
 
     int index = ((y * m_width) + x) * sizeof(uint16_t);
     m_map[index] = (uint8_t) (color >> 8);
     m_map[++index] = (uint8_t)(color);
 
-    return MAA_SUCCESS;
+    return MRAA_SUCCESS;
 }
 
 void

src/st7735/gfx.h

@@ -27,7 +27,7 @@
 #include <stdio.h>
 #include <unistd.h>
 #include <stdint.h>
-#include <maa.h>
+#include <mraa.h>
 
 #define swap(a, b) { int16_t t = a; a = b; b = t; }
 
@@ -106,7 +106,7 @@ class GFX {
          * @param y axis on vertical scale
          * @param color pixel's color
          */
-        maa_result_t setPixel (int x, int y, uint16_t color);
+        mraa_result_t setPixel (int x, int y, uint16_t color);
 
         /**
          * Fill screen with selected color

src/st7735/st7735.cxx

@@ -33,7 +33,7 @@
 using namespace upm;
 
 ST7735::ST7735 (uint8_t csLCD, uint8_t cSD, uint8_t rs, uint8_t rst) : GFX (160, 128, m_map, font) {
-    maa_init();
+    mraa_init();
 
     m_csLCD = csLCD;
     m_cSD   = cSD;
@@ -45,84 +45,84 @@ ST7735::ST7735 (uint8_t csLCD, uint8_t cSD, uint8_t rs, uint8_t rst) : GFX (160,
 }
 
 ST7735::~ST7735 () {
-    maa_result_t error = MAA_SUCCESS;
-    error = maa_spi_stop(m_spi);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    mraa_result_t error = MRAA_SUCCESS;
+    error = mraa_spi_stop(m_spi);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
-    error = maa_gpio_close (m_csLCDPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_close (m_csLCDPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
-    error = maa_gpio_close (m_cSDPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_close (m_cSDPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
-    error = maa_gpio_close (m_rSTPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_close (m_rSTPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
-    error = maa_gpio_close (m_rSPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_close (m_rSPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 }
 
 void
 ST7735::initModule () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
     m_height = 160;
     m_width  = 128;
 
-    m_csLCDPinCtx = maa_gpio_init (m_csLCD);
+    m_csLCDPinCtx = mraa_gpio_init (m_csLCD);
     if (m_csLCDPinCtx == NULL) {
         fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_csLCD);
         exit (1);
     }
 
-    m_cSDPinCtx = maa_gpio_init (m_cSD);
+    m_cSDPinCtx = mraa_gpio_init (m_cSD);
     if (m_cSDPinCtx == NULL) {
         fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_cSD);
         exit (1);
     }
 
-    m_rSTPinCtx = maa_gpio_init (m_rST);
+    m_rSTPinCtx = mraa_gpio_init (m_rST);
     if (m_rSTPinCtx == NULL) {
         fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_rST);
         exit (1);
     }
 
-    m_rSPinCtx = maa_gpio_init (m_rS);
+    m_rSPinCtx = mraa_gpio_init (m_rS);
     if (m_rSPinCtx == NULL) {
         fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_rS);
         exit (1);
     }
 
-    error = maa_gpio_dir (m_csLCDPinCtx, MAA_GPIO_OUT);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_dir (m_csLCDPinCtx, MRAA_GPIO_OUT);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
-    error = maa_gpio_dir (m_cSDPinCtx, MAA_GPIO_OUT);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_dir (m_cSDPinCtx, MRAA_GPIO_OUT);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
-    error = maa_gpio_dir (m_rSTPinCtx, MAA_GPIO_OUT);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_dir (m_rSTPinCtx, MRAA_GPIO_OUT);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
-    error = maa_gpio_dir (m_rSPinCtx, MAA_GPIO_OUT);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_dir (m_rSPinCtx, MRAA_GPIO_OUT);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
-    m_spi = maa_spi_init (0);
-    error = maa_spi_frequency(m_spi, 15 * 1000000);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    m_spi = mraa_spi_init (0);
+    error = mraa_spi_frequency(m_spi, 15 * 1000000);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
     lcdCSOn ();
@@ -131,13 +131,13 @@ ST7735::initModule () {
 void
 ST7735::write (uint8_t value) {
     rsLOW ();
-    maa_spi_write (m_spi, value);
+    mraa_spi_write (m_spi, value);
 }
 
 void
 ST7735::data (uint8_t value) {
     rsHIGH ();
-    maa_spi_write (m_spi, value);
+    mraa_spi_write (m_spi, value);
 }
 
 void
@@ -177,7 +177,7 @@ ST7735::setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1) {
     m_spiBuffer[1] = x0 + colstart;             // XSTART
     m_spiBuffer[2] = 0x00;
     m_spiBuffer[3] = x1 + colstart;             // XEND
-    maa_spi_write_buf(m_spi, m_spiBuffer, 4);
+    mraa_spi_write_buf(m_spi, m_spiBuffer, 4);
 
     write (ST7735_RASET);                       // Row addr set
 
@@ -186,14 +186,14 @@ ST7735::setAddrWindow(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1) {
     m_spiBuffer[1] = y0 + rowstart;             // YSTART
     m_spiBuffer[2] = 0x00;
     m_spiBuffer[3] = y1 + rowstart;             // YEND
-    maa_spi_write_buf(m_spi, m_spiBuffer, 4);
+    mraa_spi_write_buf(m_spi, m_spiBuffer, 4);
 
     write (ST7735_RAMWR);                       // write to RAM
 }
 
 void
 ST7735::drawPixel(int16_t x, int16_t y, uint16_t color) {
-    if (MAA_SUCCESS != setPixel (x, y, color)) {
+    if (MRAA_SUCCESS != setPixel (x, y, color)) {
         return;
     }
 
@@ -206,7 +206,7 @@ ST7735::refresh () {
 
     int fragmentSize = m_height * m_width * 2 / 20;
     for (int fragment = 0; fragment < 20; fragment++) {
-        maa_spi_write_buf(m_spi, &m_map[fragment * fragmentSize], fragmentSize);
+        mraa_spi_write_buf(m_spi, &m_map[fragment * fragmentSize], fragmentSize);
     }
 }
 
@@ -216,11 +216,11 @@ ST7735::configModule() {
     lcdCSOff ();
     lcdCSOn ();
 
-    maa_gpio_write (m_rSTPinCtx, HIGH);
+    mraa_gpio_write (m_rSTPinCtx, HIGH);
     usleep (500000);
-    maa_gpio_write (m_rSTPinCtx, LOW);
+    mraa_gpio_write (m_rSTPinCtx, LOW);
     usleep (500000);
-    maa_gpio_write (m_rSTPinCtx, HIGH);
+    mraa_gpio_write (m_rSTPinCtx, HIGH);
     usleep (500000);
 
     executeCMDList (Rcmd1);
@@ -236,83 +236,83 @@ ST7735::configModule() {
     refresh ();
 }
 
-maa_result_t
+mraa_result_t
 ST7735::lcdCSOn () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
-    error = maa_gpio_write (m_csLCDPinCtx, LOW);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_write (m_csLCDPinCtx, LOW);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
-    error = maa_gpio_write (m_cSDPinCtx, HIGH);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_write (m_cSDPinCtx, HIGH);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
     return error;
 }
 
-maa_result_t
+mraa_result_t
 ST7735::lcdCSOff () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
-    error = maa_gpio_write (m_csLCDPinCtx, HIGH);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_write (m_csLCDPinCtx, HIGH);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
     return error;
 }
 
-maa_result_t
+mraa_result_t
 ST7735::sdCSOn () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
-    error = maa_gpio_write (m_cSDPinCtx, LOW);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_write (m_cSDPinCtx, LOW);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
-    error = maa_gpio_write (m_csLCDPinCtx, HIGH);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_write (m_csLCDPinCtx, HIGH);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
     return error;
 }
 
-maa_result_t
+mraa_result_t
 ST7735::sdCSOff () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
-    error = maa_gpio_write (m_cSDPinCtx, HIGH);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_write (m_cSDPinCtx, HIGH);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
     return error;
 }
 
-maa_result_t
+mraa_result_t
 ST7735::rsHIGH () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
-    error = maa_gpio_write (m_rSPinCtx, HIGH);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_write (m_rSPinCtx, HIGH);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
     return error;
 }
 
-maa_result_t
+mraa_result_t
 ST7735::rsLOW () {
-    maa_result_t error = MAA_SUCCESS;
+    mraa_result_t error = MRAA_SUCCESS;
 
-    error = maa_gpio_write (m_rSPinCtx, LOW);
-    if (error != MAA_SUCCESS) {
-        maa_result_print (error);
+    error = mraa_gpio_write (m_rSPinCtx, LOW);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
     }
 
     return error;

src/st7735/st7735.h

@@ -27,9 +27,9 @@
 #pragma once
 
 #include <string>
-#include <maa/aio.h>
-#include <maa/gpio.h>
-#include <maa/spi.h>
+#include <mraa/aio.h>
+#include <mraa/gpio.h>
+#include <mraa/spi.h>
 #include <gfx.h>
 
 #define INITR_GREENTAB      0x0
@@ -584,45 +584,45 @@ class ST7735 : public GFX {
         /**
          * LCD chip select LOW.
          */
-        maa_result_t lcdCSOn ();
+        mraa_result_t lcdCSOn ();
 
         /**
          * LCD chip select HIGH.
          */
-        maa_result_t lcdCSOff ();
+        mraa_result_t lcdCSOff ();
 
         /**
          * CD card chip select LOW.
          */
-        maa_result_t sdCSOn ();
+        mraa_result_t sdCSOn ();
 
         /**
          * CD card select HIGH.
          */
-        maa_result_t sdCSOff ();
+        mraa_result_t sdCSOff ();
 
         /**
          * Data select HIGH.
          */
-        maa_result_t rsHIGH ();
+        mraa_result_t rsHIGH ();
 
         /**
          * Data select LOW.
          */
-        maa_result_t rsLOW ();
+        mraa_result_t rsLOW ();
 
         uint8_t m_map[160 * 128 * 2]; /**< Screens buffer */
     private:
-        maa_spi_context      m_spi;
+        mraa_spi_context      m_spi;
         uint8_t              m_csLCD;
         uint8_t              m_cSD;
         uint8_t              m_rST;
         uint8_t              m_rS;
 
-        maa_gpio_context     m_csLCDPinCtx;
-        maa_gpio_context     m_cSDPinCtx;
-        maa_gpio_context     m_rSTPinCtx;
-        maa_gpio_context     m_rSPinCtx;
+        mraa_gpio_context     m_csLCDPinCtx;
+        mraa_gpio_context     m_cSDPinCtx;
+        mraa_gpio_context     m_rSTPinCtx;
+        mraa_gpio_context     m_rSPinCtx;
 
         uint8_t              m_spiBuffer[32];
 

src/stepmotor/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "stepmotor")
+set (libdescription "upm STEPMOTOR")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/stepmotor/jsupm_stepmotor.i

@@ -0,0 +1,7 @@
+%module jsupm_stepmotor
+
+%{
+    #include "stepmotor.h"
+%}
+
+%include "stepmotor.h"

src/stepmotor/pyupm_stepmotor.i

@@ -0,0 +1,10 @@
+%module pyupm_stepmotor
+
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%include "stepmotor.h"
+%{
+    #include "stepmotor.h"
+%}

src/stepmotor/stepmotor.cxx

@@ -0,0 +1,127 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 <unistd.h>
+#include <stdlib.h>
+
+#include "stepmotor.h"
+
+using namespace upm;
+
+StepMotor::StepMotor (int dirPin, int stePin) {
+    mraa_result_t error = MRAA_SUCCESS;
+    m_name = "StepMotor";
+
+    mraa_init();
+
+    m_stePin = stePin;
+    m_dirPin = dirPin;
+
+    m_pwmStepContext = mraa_pwm_init (m_stePin);
+    m_dirPinCtx = mraa_gpio_init (m_dirPin);
+    if (m_dirPinCtx == NULL) {
+        fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_dirPin);
+        exit (1);
+    }
+
+    error = mraa_gpio_dir (m_dirPinCtx, MRAA_GPIO_OUT);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
+    }
+}
+
+StepMotor::~StepMotor() {
+    mraa_result_t error = MRAA_SUCCESS;
+
+    mraa_pwm_close (m_pwmStepContext);
+
+    error = mraa_gpio_close (m_dirPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
+    }
+}
+
+void
+StepMotor::setSpeed (int speed) {
+    if (speed > MAX_PERIOD) {
+        m_speed = MAX_PERIOD;
+    }
+
+    if (speed < MIN_PERIOD) {
+        m_speed = MIN_PERIOD;
+    }
+
+    m_speed = speed;
+}
+
+mraa_result_t
+StepMotor::stepForward (int ticks) {
+    dirForward ();
+    move (ticks);
+}
+
+mraa_result_t
+StepMotor::stepBackwards (int ticks) {
+    dirBackwards ();
+    move (ticks);
+}
+
+mraa_result_t
+StepMotor::move (int ticks) {
+    mraa_result_t error = MRAA_SUCCESS;
+
+    mraa_pwm_enable (m_pwmStepContext, 1);
+    for (int tick = 0; tick < ticks; tick++) {
+        mraa_pwm_period_us (m_pwmStepContext, m_speed);
+        mraa_pwm_pulsewidth_us (m_pwmStepContext, PULSEWIDTH);
+    }
+    mraa_pwm_enable (m_pwmStepContext, 0);
+
+    return error;
+}
+
+mraa_result_t
+StepMotor::dirForward () {
+    mraa_result_t error = MRAA_SUCCESS;
+
+    error = mraa_gpio_write (m_dirPinCtx, HIGH);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
+    }
+
+    return error;
+}
+
+mraa_result_t
+StepMotor::dirBackwards () {
+    mraa_result_t error = MRAA_SUCCESS;
+
+    error = mraa_gpio_write (m_dirPinCtx, LOW);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print (error);
+    }
+
+    return error;
+}

src/stepmotor/stepmotor.h

@@ -0,0 +1,101 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Credits to Adafruit.
+ * Based on Adafruit BMP085 library.
+ *
+ * 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 <math.h>
+#include <mraa/pwm.h>
+#include <mraa/aio.h>
+#include <mraa/gpio.h>
+
+#define MIN_PERIOD         500
+#define MAX_PERIOD         1000
+#define PULSEWIDTH         480
+
+#define HIGH               1
+#define LOW                0
+
+namespace upm {
+
+/**
+ * @brief C++ API for StepMotor Drivers
+ *
+ * This file defines the stepmotor C++ interface for libstepmotor
+ *
+ * @snippet stepmotor.cxx Interesting
+ */
+class StepMotor {
+    public:
+        /**
+         * Instanciates a StepMotor object
+         *
+         * @param dirPin direction pin
+         * @param stePin steper pulse pin
+         */
+        StepMotor (int dirPin, int stePin);
+
+        /**
+         * StepMotor object destructor.
+         */
+        ~StepMotor ();
+
+        /**
+         * Set the speed of rotation
+         *
+         * @param speed rotation speed
+         */
+        void setSpeed (int speed);
+
+        /**
+         * Rotate motor forward
+         *
+         * @param ticks number of tickes the motor will move
+         */
+        mraa_result_t stepForward (int ticks);
+
+        /**
+         * Rotate motor backward
+         *
+         * @param ticks number of tickes the motor will move
+         */
+        mraa_result_t stepBackwards (int ticks);
+
+    private:
+        std::string         m_name;
+
+        int                 m_dirPin;
+        int                 m_stePin;
+        int                 m_speed;
+
+        mraa_gpio_context    m_dirPinCtx;
+        mraa_pwm_context     m_pwmStepContext;
+
+        mraa_result_t move (int ticks);
+        mraa_result_t dirForward ();
+        mraa_result_t dirBackwards ();
+    };
+}

src/tm1637/tm1637.cxx

@@ -51,56 +51,56 @@ const uint8_t digitToSegment[] = {
 };
 
 TM1637::TM1637 (uint8_t di, uint8_t dcki) {
-    maa_result_t error = MAA_SUCCESS;
-    maa_init();
+    mraa_result_t error = MRAA_SUCCESS;
+    mraa_init();
 
     // init clock context
-    m_clkPinCtx = maa_gpio_init(dcki);
+    m_clkPinCtx = mraa_gpio_init(dcki);
     if (m_clkPinCtx == NULL) {
         fprintf(stderr, "Are you sure that pin%d you requested is valid on your platform?", dcki);
         exit(1);
     }
     // init data context
-    m_dataPinCtx = maa_gpio_init(di);
+    m_dataPinCtx = mraa_gpio_init(di);
     if (m_dataPinCtx == NULL) {
         fprintf(stderr, "Are you sure that pin%d you requested is valid on your platform?", di);
         exit(1);
     }
     
     // set direction (out)
-    error = maa_gpio_dir(m_clkPinCtx, MAA_GPIO_IN);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_dir(m_clkPinCtx, MRAA_GPIO_IN);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 
     // set direction (out)
-    error = maa_gpio_dir(m_dataPinCtx, MAA_GPIO_IN);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_dir(m_dataPinCtx, MRAA_GPIO_IN);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 
-    error = maa_gpio_write (m_dataPinCtx, LOW);
-    error = maa_gpio_write (m_clkPinCtx, LOW);
+    error = mraa_gpio_write (m_dataPinCtx, LOW);
+    error = mraa_gpio_write (m_clkPinCtx, LOW);
 }
 
 TM1637::~TM1637() {
-    maa_result_t error = MAA_SUCCESS;
-    error = maa_gpio_close (m_dataPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    mraa_result_t error = MRAA_SUCCESS;
+    error = mraa_gpio_close (m_dataPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
-    error = maa_gpio_close (m_clkPinCtx);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+    error = mraa_gpio_close (m_clkPinCtx);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 }
 
-maa_result_t
+mraa_result_t
 TM1637::setBrightness (uint8_t level) {
     m_brightness = level;
 }
 
-maa_result_t
+mraa_result_t
 TM1637::setSegments (const uint8_t segments[], uint8_t length, uint8_t pos) {
     start();
     writeByte(TM1637_I2C_COMM1);
@@ -118,7 +118,7 @@ TM1637::setSegments (const uint8_t segments[], uint8_t length, uint8_t pos) {
     stop();
 }
 
-maa_result_t
+mraa_result_t
 TM1637::write (std::string msg) {
     char leter = '\0';
     uint8_t data[] = { 0x0, 0x0, 0x0, 0x0 };
@@ -132,60 +132,60 @@ TM1637::write (std::string msg) {
     setSegments(data);
 }
 
-maa_result_t
-TM1637::pinMode (maa_gpio_context ctx, gpio_dir_t mode) {
-    maa_result_t error = MAA_SUCCESS;
-    error = maa_gpio_dir(ctx, mode);
-    if (error != MAA_SUCCESS) {
-        maa_result_print(error);
+mraa_result_t
+TM1637::pinMode (mraa_gpio_context ctx, gpio_dir_t mode) {
+    mraa_result_t error = MRAA_SUCCESS;
+    error = mraa_gpio_dir(ctx, mode);
+    if (error != MRAA_SUCCESS) {
+        mraa_result_print(error);
     }
 }
 
-maa_result_t
+mraa_result_t
 TM1637::start() {
-    pinMode (m_dataPinCtx, MAA_GPIO_OUT);
+    pinMode (m_dataPinCtx, MRAA_GPIO_OUT);
     usleep(PULSE_LENGTH);
 }
 
-maa_result_t
+mraa_result_t
 TM1637::stop() {
-    pinMode (m_dataPinCtx, MAA_GPIO_OUT);
+    pinMode (m_dataPinCtx, MRAA_GPIO_OUT);
     usleep(PULSE_LENGTH);
-    pinMode (m_clkPinCtx, MAA_GPIO_IN);
+    pinMode (m_clkPinCtx, MRAA_GPIO_IN);
     usleep(PULSE_LENGTH);
-    pinMode (m_dataPinCtx, MAA_GPIO_IN);
+    pinMode (m_dataPinCtx, MRAA_GPIO_IN);
     usleep(PULSE_LENGTH);
 }
 
-maa_result_t
+mraa_result_t
 TM1637::writeByte(uint8_t value) {
     for (uint8_t idx = 0; idx < 8; idx++) {
-        pinMode(m_clkPinCtx, MAA_GPIO_OUT);
+        pinMode(m_clkPinCtx, MRAA_GPIO_OUT);
         usleep(PULSE_LENGTH);
         if (value & 0x01) {
-              pinMode(m_dataPinCtx, MAA_GPIO_IN);
+              pinMode(m_dataPinCtx, MRAA_GPIO_IN);
         } else {
-              pinMode(m_dataPinCtx, MAA_GPIO_OUT);
+              pinMode(m_dataPinCtx, MRAA_GPIO_OUT);
         }
         usleep(PULSE_LENGTH);
 
-        pinMode(m_clkPinCtx, MAA_GPIO_IN);
+        pinMode(m_clkPinCtx, MRAA_GPIO_IN);
         usleep(PULSE_LENGTH);
         value = value >> 1;
     }
 
-    pinMode(m_clkPinCtx, MAA_GPIO_OUT);
-    pinMode(m_dataPinCtx, MAA_GPIO_IN);
+    pinMode(m_clkPinCtx, MRAA_GPIO_OUT);
+    pinMode(m_dataPinCtx, MRAA_GPIO_IN);
     usleep(PULSE_LENGTH);
 
-    pinMode(m_clkPinCtx, MAA_GPIO_IN);
+    pinMode(m_clkPinCtx, MRAA_GPIO_IN);
     usleep(PULSE_LENGTH);
 
-    uint8_t ack = maa_gpio_read (m_dataPinCtx);
+    uint8_t ack = mraa_gpio_read (m_dataPinCtx);
     if (ack == 0) {
-        pinMode(m_dataPinCtx, MAA_GPIO_OUT);
+        pinMode(m_dataPinCtx, MRAA_GPIO_OUT);
     } usleep(PULSE_LENGTH);
 
-    pinMode(m_clkPinCtx, MAA_GPIO_OUT);
+    pinMode(m_clkPinCtx, MRAA_GPIO_OUT);
     usleep(50);
 }

src/tm1637/tm1637.h

@@ -24,8 +24,8 @@
 #pragma once
 
 #include <string>
-#include <maa/aio.h>
-#include <maa/gpio.h>
+#include <mraa/aio.h>
+#include <mraa/gpio.h>
 
 #define SEG_A               0b00000001
 #define SEG_B               0b00000010
@@ -82,7 +82,7 @@ class TM1637 {
          *
          * @param level The brightness level of leds
          */
-        maa_result_t setBrightness (uint8_t level);
+        mraa_result_t setBrightness (uint8_t level);
 
         /**
          * Set the the segment screen data and number of segments
@@ -92,14 +92,14 @@ class TM1637 {
          * @param length number of elements in segments array
          * @param pos data writing offset
          */
-        maa_result_t setSegments (const uint8_t segments[], uint8_t length = 4, uint8_t pos = 0);
+        mraa_result_t setSegments (const uint8_t segments[], uint8_t length = 4, uint8_t pos = 0);
 
         /**
          * Write message on the screen.
          *
          * @param msg The message to be written on the sreen
          */
-        maa_result_t write (std::string msg);
+        mraa_result_t write (std::string msg);
 
         /**
          * Return name of the component
@@ -110,13 +110,13 @@ class TM1637 {
         }
 
     private:
-        maa_result_t start();
-        maa_result_t stop();
-        maa_result_t writeByte (uint8_t value);
-        maa_result_t pinMode (maa_gpio_context ctx, gpio_dir_t mode);
+        mraa_result_t start();
+        mraa_result_t stop();
+        mraa_result_t writeByte (uint8_t value);
+        mraa_result_t pinMode (mraa_gpio_context ctx, gpio_dir_t mode);
 
-        maa_gpio_context m_clkPinCtx;
-        maa_gpio_context m_dataPinCtx;
+        mraa_gpio_context m_clkPinCtx;
+        mraa_gpio_context m_dataPinCtx;
 
         std::string m_name;
         uint8_t m_brightness;