upm: v1.0.2

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

.travis.yml

@@ -15,7 +15,7 @@ compiler:
   - clang
   - gcc
 install:
-  - sudo add-apt-repository --yes ppa:fenics-packages/fenics-dev/swig
+  - sudo add-apt-repository --yes ppa:rosmo/swig3.0.7
   - sudo apt-get update -qq
   - sudo apt-get install -y --force-yes -qq swig3.0 git
   - sudo ln -s /usr/bin/swig3.0 /usr/bin/swig
@@ -36,7 +36,7 @@ script:
   - sudo make install
   - sudo ldconfig
   # Build/install UPM
-  - cd $UPM_ROOT && mkdir $UPM_BUILD && cd $_ && cmake -DNODE_ROOT_DIR:PATH="${NODE_ROOT_DIR}" -DBUILDSWIGJAVA=$BUILDJAVA -DBUILDEXAMPLES=ON -DBUILDJAVAEXAMPLES=$BUILDJAVA -DBUILDTESTS=ON .. && sudo make install && sudo ldconfig && ctest --output-on-failure -E examplenames_js
+  - cd $UPM_ROOT && mkdir $UPM_BUILD && cd $_ && cmake -DNODE_ROOT_DIR:PATH="${NODE_ROOT_DIR}" -DBUILDSWIGJAVA=$BUILDJAVA -DBUILDEXAMPLES=ON -DBUILDTESTS=ON -DBUILDFTI=ON .. && sudo make install && sudo ldconfig && ctest --output-on-failure -E examplenames_js
 addons:
   apt:
     sources:

CMakeLists.txt

@@ -8,8 +8,7 @@ option (BUILDFTI "Build Funtion Table Interface (FTI) in C sensor libraries" OFF
 option (BUILDSWIGPYTHON "Build swig python modules" ON)
 option (BUILDSWIGNODE "Build swig node modules" ON)
 option (BUILDSWIGJAVA "Build swig java modules" OFF)
-option (BUILDEXAMPLES "Build C/C++ example binaries" OFF)
+option (BUILDEXAMPLES "Build C/C++/JAVA examples" OFF)
-option (BUILDJAVAEXAMPLES "Build java example jars" OFF)
 option (IPK "Generate IPK using CPack" OFF)
 option (RPM "Generate RPM using CPack" OFF)
 option (NPM "Generate NPM/GYP tarballs" OFF)
@@ -139,6 +138,13 @@ if (BUILDSWIGNODE)
   find_package (Node REQUIRED)
 endif (BUILDSWIGNODE)
 
+# Find JAVA/JNI
+if (BUILDSWIGJAVA)
+  find_package (Java REQUIRED)
+  find_package (JNI REQUIRED)
+  pkg_check_modules (MRAAJAVA REQUIRED mraajava>=0.8.0)
+endif (BUILDSWIGJAVA)
+
 # Find swig if any wrapper is enabled
 if (BUILDSWIGPYTHON OR BUILDSWIGNODE OR BUILDSWIGJAVA)
   find_package (SWIG 3.0.5 REQUIRED)
@@ -187,7 +193,7 @@ include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 # If git_describe fails, use a dirty version
 if (${VERSION} MATCHES -NOTFOUND)
-  set (VERSION "v1.0.1-dirty")
+  set (VERSION "v1.0.2")
   message (WARNING "Failed to retrieve UPM version with 'git describe' (using "
       "${VERSION}). Check that git is installed and this is a valid git repo.")
 endif ()
@@ -381,7 +387,6 @@ endif()
 
 if (RPM)
   message (STATUS "RPM packaging enabled for ${DETECTED_ARCH}")
-  set(CPACK_PACKAGE_VERSION ${VERSION})
   set(CPACK_GENERATOR "RPM")
   set(CPACK_PACKAGE_NAME "upm")
   set(upm_PACKAGE_ON_TAG ".")
@@ -418,7 +423,8 @@ if(BUILDEXAMPLES)
   endif(BUILDCPP)
 endif()
 
-if(BUILDJAVAEXAMPLES)
+# Build java examples
+if(BUILDSWIGJAVA AND BUILDEXAMPLES)
   add_subdirectory (examples/java)
 endif()
 

docs/building.md

@@ -80,14 +80,10 @@ Building documentation
 ~~~~~~~~~~~~~
 -DBUILDDOC=ON
 ~~~~~~~~~~~~~
-Build C++ example binaries
+Build C/C++/JAVA examples
 ~~~~~~~~~~~~~
 -DBUILDEXAMPLES=ON
 ~~~~~~~~~~~~~
-Build Java examples
-~~~~~~~~~~~~~
--DBUILDJAVAEXAMPLES=ON
-~~~~~~~~~~~~~
 
 If you intend to turn on all the options and build everything at once
 (C++, Java, Node, Python and Documentation) you will have to edit the

docs/changelog.md

@@ -4,6 +4,15 @@ Changelog                         {#changelog}
 Here's a list summarizing some of the key undergoing changes to our library
 from earlier versions:
 
+### v1.0.2
+
+ * Minor cmake changes for Java builds and Java examples are now toggled with
+ the same BUILDEXAMPLES cmake switch
+ * Made some improvements in the utilities class for our C drivers
+ * Fixed issue with some drivers not being usable on subplatforms due to pin
+ numbers using uint8 type
+ * New sensors: ims, ecezo, mb704x, rf22
+
 ### v1.0.1
 
  * Warnings as errors enabled for C/CXX (fixed warnings from -Wall and others)

doxy/samples.mapping.txt

@@ -24,6 +24,7 @@ hcsr04.cxx	HCSR04Sample.java	hcsr04.js	hcsr04.py
 hm11.cxx	HM11Sample.java	hm11.js	hm11.py
 hmc5883l.cxx	Hmc5883lSample.java	hmc5883l.js	hmc5883l.py
 htu21d.cxx	HTU21DSample.java	htu21d.js	htu21d.py
+ims.cxx	IMS_Example.java	ims.js	ims.py
 itg3200.cxx	Itg3200Sample.java	itg3200.js	itg3200.py
 jhd1313m1-lcd.cxx	Jhd1313m1_lcdSample.java	jhd1313m1-lcd.js	jhd1313m1-lcd.py
 joystick12.cxx	Joystick12Sample.java	joystick12.js	joystick12.py

examples/c++/CMakeLists.txt

@@ -322,6 +322,11 @@ add_example (dfrorp)
 add_example (dfrec)
 add_example (sht1x)
 add_example (ms5803)
+add_example (ims)
+add_example (ecezo)
+add_example (mb704x)
+add_example (rf22-server)
+add_example (rf22-client)
 
 # These are special cases where you specify example binary, source file and module(s)
 include_directories (${PROJECT_SOURCE_DIR}/src)

examples/c++/ecezo.cxx

@@ -0,0 +1,81 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <signal.h>
+
+#include <upm_utilities.h>
+#include <ecezo.hpp>
+
+using namespace std;
+using namespace upm;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+    //! [Interesting]
+
+    // Instantiate a ECEZO sensor on uart 0 at 9600 baud.
+    upm::ECEZO *sensor = new upm::ECEZO(0, 9600, false);
+
+    // For I2C, assuming the device is configured for address 0x64 on
+    // I2C bus 0, you could use something like:
+    //
+    // upm::ECEZO *sensor = new upm::ECEZO(0, 0x64, true);
+
+    while (shouldRun)
+    {
+        // this will take about 1 second to complete
+        sensor->update();
+
+        cout << "EC "
+             << sensor->getEC()
+             << " uS/cm, TDS "
+             << sensor->getTDS()
+             << " mg/L, Salinity "
+             << sensor->getSalinity()
+             << " PSS-78, SG "
+             << sensor->getSG()
+             << endl;
+
+        upm_delay(5);
+    }
+
+    //! [Interesting]
+
+    cout << "Exiting..." << endl;
+
+    delete sensor;
+
+    return 0;
+}

examples/c++/ims.cxx

@@ -0,0 +1,69 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "ims.hpp"
+
+using namespace upm;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+int main(int argc, char **argv)
+{
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
+
+    // Instantiate a IMS instance using i2c bus 0 and default address
+    upm::IMS sensor(0);
+
+    while (shouldRun)
+    {
+        std::cout << "Version: "
+            << sensor.get_version()
+            << " light: "
+            << sensor.get_light()
+            << " moisture: "
+            << sensor.get_moisture()
+            << " temp: "
+            << sensor.get_temperature()
+            << " C"
+            << std::endl;
+
+        sleep(1);
+    }
+    //! [Interesting]
+
+    std::cout << "Exiting..." << std::endl;
+
+    return 0;
+}

examples/c++/mb704x.cxx

@@ -0,0 +1,70 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <signal.h>
+
+#include <upm_utilities.h>
+#include <mb704x.hpp>
+
+using namespace std;
+using namespace upm;
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+    // Instantiate a MB704X sensor using default parameters (bus 0,
+    // address 112)
+    upm::MB704X *sensor = new upm::MB704X();
+
+    while (shouldRun)
+    {
+        cout << "Range: "
+             << sensor->getRange()
+             << " cm"
+             << endl;
+
+        upm_delay_ms(500);
+    }
+
+
+    cout << "Exiting..." << endl;
+
+    delete sensor;
+
+//! [Interesting]
+
+    return 0;
+}

examples/c++/rf22-client.cxx

@@ -0,0 +1,72 @@
+/*
+ * Author: Kiveisha Yevgeniy
+ * Copyright (c) 2015-2016 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 <signal.h>
+#include "rf22.hpp"
+
+bool amWorking = true;
+
+void
+sig_handler (int signo) {
+    if (signo == SIGINT) {
+        amWorking = false;
+    }
+}
+//! [Interesting]
+int
+main (int argc, char ** argv) {
+    // SPI bus 0, CS pin 10, INTR pin 2
+    upm::RF22* rf22 = new upm::RF22 (0, 10, 2);
+
+    if (!rf22->init()) {
+        std::cout << "RF22 init failed" << std::endl;
+        return 0x1;
+    }
+
+    uint8_t data[] = "Hello World!";
+    uint8_t buf[RF22_MAX_MESSAGE_LEN];
+    uint8_t len = sizeof(buf);
+
+    signal (SIGINT, sig_handler);
+    while (amWorking) {
+        std::cout << "Sending to rf22_server" << std::endl;
+        // Send a message to rf22_server
+        rf22->send(data, sizeof(data));
+        rf22->waitPacketSent();
+        // Now wait for a reply
+                
+        rf22->waitAvailableTimeout(1000000);
+        
+        if (rf22->recv(buf, &len)) {
+            std::cout << "got response: " << (char*)buf << std::endl;
+        } else {
+            std::cout << "!!! NO RESPONSE !!!" << std::endl;
+        }
+    }
+
+    std::cout << "Exit 'rfm22-client'" << std::endl;
+    return 0;
+}
+//! [Interesting]

examples/c++/rf22-server.cxx

@@ -0,0 +1,73 @@
+/*
+ * Author: Kiveisha Yevgeniy
+ * Copyright (c) 2015-2016 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 <signal.h>
+#include "rf22.hpp"
+
+bool amWorking = true;
+
+void
+sig_handler (int signo) {
+    if (signo == SIGINT) {
+        amWorking = false;
+    }
+}
+//! [Interesting]
+int
+main (int argc, char ** argv) {
+    // SPI bus 0, CS pin 10, INTR pin 2
+    upm::RF22* rf22 = new upm::RF22 (0, 10, 2);
+
+    if (!rf22->init()) {
+        std::cout << "RF22 init failed" << std::endl;
+        return 0x1;
+    }
+    
+    uint8_t buf[RF22_MAX_MESSAGE_LEN];
+    uint8_t len = sizeof(buf);
+    
+    signal (SIGINT, sig_handler);
+    while (amWorking) {
+        // rf22->waitAvailable();
+        rf22->waitAvailableTimeout (500);
+
+        // Should be a message for us now   
+        if (rf22->recv(buf, &len)) {
+            std::cout << "got request: " << (char*)buf << std::endl;
+
+            // Send a reply
+            uint8_t data[] = "And hello back to you";
+            rf22->send(data, sizeof(data));
+            rf22->waitPacketSent();
+        } else {
+            // Do whatever you need.
+        }
+    }
+
+    delete rf22;
+    std::cout << "Exit 'rfm22-server'" << std::endl;
+    return 0;
+}
+//! [Interesting]

examples/c/CMakeLists.txt

@@ -23,7 +23,7 @@ macro(add_custom_example example_bin example_src example_module_list)
       set(found_all_modules FALSE)
     endif()
     if (MODULE_LIST)
-      list(FIND MODULE_LIST ${module}-c index)
+      list(FIND MODULE_LIST ${module} index)
       if (${index} EQUAL -1)
         set(found_all_modules FALSE)
       endif()
@@ -136,9 +136,11 @@ add_example (ppd42ns)
 add_example (guvas12d)
 add_example (otp538u)
 add_example (button)
-add_example (button_intr)
 add_example (my9221)
 add_example (ms5803)
+add_example (ims)
+add_example (ecezo)
+add_example (mb704x)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)
@@ -146,3 +148,4 @@ add_custom_example (lcm1602-i2c-example-c lcm1602-i2c.c lcm1602)
 add_custom_example (lcm1602-parallel-example-c lcm1602-parallel.c lcm1602)
 add_custom_example (rpr220-intr-example-c rpr220-intr.c rpr220)
 add_custom_example (md-stepper-example-c md-stepper.c md)
+add_custom_example (button_intr-example-c button_intr.c button)

examples/c/ecezo.c

@@ -0,0 +1,85 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <signal.h>
+
+#include <upm_utilities.h>
+#include <ecezo.h>
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+    //! [Interesting]
+
+    // Instantiate a ECEZO sensor on uart 0 at 9600 baud.
+    ecezo_context sensor = ecezo_uart_init(0, 9600);
+
+    // For I2C, assuming the device is configured for address 0x64 on
+    // I2C bus 0, you could use something like:
+    //
+    // ecezo_context sensor = ecezo_i2c_init(0, 0x64);
+
+    if (!sensor)
+    {
+        printf("ecezo_init() failed.\n");
+        return 1;
+    }
+
+    while (shouldRun)
+    {
+        // this will take about 1 second to complete
+        if (ecezo_update(sensor))
+        {
+            printf("ecezo_update() failed\n");
+        }
+        else
+        {
+            printf("EC %f uS/cm, TDS %f mg/L, Salinity %f PSS-78, SG %f\n",
+                   ecezo_get_ec(sensor),
+                   ecezo_get_tds(sensor),
+                   ecezo_get_salinity(sensor),
+                   ecezo_get_sg(sensor));
+        }
+
+        upm_delay(5);
+    }
+
+    //! [Interesting]
+
+    printf("Exiting\n");
+
+    ecezo_close(sensor);
+
+    return 0;
+}

examples/c/ims.c

@@ -0,0 +1,75 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2016 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 <stdio.h>
+#include <signal.h>
+
+#include "ims.h"
+#include "upm_utilities.h"
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+    //! [Interesting]
+    ims_context* sensor = ims_init(0, IMS_ADDRESS_DEFAULT);
+
+    if (!sensor)
+    {
+        printf("ims_init() failed\n");
+        return 1;
+    }
+
+    // Every second, sample the sensor outputs
+    while (shouldRun)
+    {
+        uint16_t version, light, moisture, temp;
+
+        if (ims_get_version(sensor, &version) == UPM_SUCCESS &&
+            ims_get_light(sensor, &light) == UPM_SUCCESS &&
+            ims_get_moisture(sensor, &moisture) == UPM_SUCCESS &&
+            ims_get_temperature(sensor, &temp) == UPM_SUCCESS)
+            printf("Version: %d light: 0x%04x moisture: 0x%04x temp: %3.2f C\n",
+                    version, light, moisture, temp/10.0);
+        else
+            break;
+
+        upm_delay(1);
+    }
+
+    //! [Interesting]
+    printf("Exiting\n");
+    ims_close(sensor);
+
+    return 0;
+}

examples/c/mb704x.c

@@ -0,0 +1,77 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <signal.h>
+
+#include <upm_utilities.h>
+#include <mb704x.h>
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+int main()
+{
+    signal(SIGINT, sig_handler);
+
+//! [Interesting]
+
+    // Instantiate a MB704X sensor on i2c bus 0, address 112.
+    mb704x_context sensor = mb704x_init(0, 112);
+
+    if (!sensor)
+    {
+        printf("mb704x_init() failed.\n");
+        return 1;
+    }
+
+    while (shouldRun)
+    {
+        // this will take about 1 second to complete
+        int range = mb704x_get_range(sensor);
+        if (range < 0)
+        {
+            printf("Error getting range.\n");
+        }
+        else
+        {
+            printf("Range: %d cm\n", range);
+        }
+
+        upm_delay_ms(500);
+    }
+
+    printf("Exiting\n");
+
+    mb704x_close(sensor);
+
+//! [Interesting]
+
+    return 0;
+}

examples/java/CMakeLists.txt

@@ -157,6 +157,9 @@ add_example(DFRORP_Example dfrorp)
 add_example(DFREC_Example dfrec)
 add_example(SHT1X_Example sht1x)
 add_example(MS5803_Example ms5803)
+add_example(ECEZO_Example ecezo)
+add_example(IMS_Example ims)
+add_example(MB704X_Example mb704x)
 
 add_example_with_path(Jhd1313m1_lcdSample lcd i2clcd)
 add_example_with_path(Jhd1313m1Sample lcd i2clcd)

examples/java/ECEZO_Example.java

@@ -0,0 +1,60 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_ecezo.ECEZO;
+
+public class ECEZO_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+         // Instantiate a ECEZO sensor on uart 0 at 9600 baud.
+        ECEZO sensor = new ECEZO(0, 9600, false);
+
+        // For I2C, assuming the device is configured for address 0x64 on
+        // I2C bus 0, you could use something like:
+        //
+        // ECEZO sensor = new ECEZO(0, 0x64, true);
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                System.out.println("EC "
+                                   + sensor.getEC()
+                                   + " uS/cm, TDS "
+                                   + sensor.getTDS()
+                                   + " mg/L, Salinity "
+                                   + sensor.getSalinity()
+                                   + " PSS-78, SG "
+                                   + sensor.getSG());
+
+                Thread.sleep(5000);
+            }
+
+// ! [Interesting]
+    }
+}

examples/java/IMS_Example.java

@@ -0,0 +1,53 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_ims.IMS;
+
+public class IMS_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+        // ! [Interesting]
+
+        // Instantiate a IMS instance using bus 0 and default i2c address
+        IMS sensor = new IMS((short)0);
+
+        while (true)
+        {
+            System.out.println("Version: "
+                    + sensor.get_version()
+                    + " light: "
+                    + sensor.get_light()
+                    + " moisture: "
+                    + sensor.get_moisture()
+                    + " temp: "
+                    + sensor.get_temperature()
+                    + " C");
+
+            Thread.sleep(1000);
+        }
+
+        // ! [Interesting]
+    }
+}

examples/java/MB704X_Example.java

@@ -0,0 +1,48 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+import upm_mb704x.MB704X;
+
+public class MB704X_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a MB704X sensor using default parameters (bus 0,
+        // address 112)
+        MB704X sensor = new MB704X();
+
+        while (true)
+            {
+                System.out.println("Range: "
+                                   + sensor.getRange()
+                                   + " cm");
+
+                Thread.sleep(500);
+            }
+
+// ! [Interesting]
+    }
+}

examples/javascript/ecezo.js

@@ -0,0 +1,59 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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.
+ */
+
+var sensorObj = require('jsupm_ecezo');
+
+// Instantiate a ECEZO sensor on uart 0 at 9600 baud.
+var sensor = new sensorObj.ECEZO(0, 9600, false);
+
+// For I2C, assuming the device is configured for address 0x64 on
+// I2C bus 0, you could use something like:
+//
+// var sensor = new sensorObj.ECEZO(0, 0x64, true);
+
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    console.log("EC "
+                + sensor.getEC()
+                + " uS/cm, TDS "
+                + sensor.getTDS()
+                + " mg/L, Salinity "
+                + sensor.getSalinity()
+                + " PSS-78, SG "
+                + sensor.getSG());
+
+}, 5000);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/javascript/ims.js

@@ -0,0 +1,51 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2016 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.
+ */
+
+var sensorObj = require('jsupm_ims');
+
+// Instantiate a IMS instance using bus 0 and default i2c address
+var sensor = new sensorObj.IMS(0);
+
+setInterval(function()
+{
+    console.log("Version: "
+                + sensor.get_version()
+                + " light: "
+                + sensor.get_light()
+                + " moisture: "
+                + sensor.get_moisture()
+                + " temp: "
+                + sensor.get_temperature().toFixed(2)
+                + " C");
+}, 1000);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/javascript/mb704x.js

@@ -0,0 +1,47 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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.
+ */
+
+var sensorObj = require('jsupm_mb704x');
+
+// Instantiate a MB704X sensor using default parameters (bus 0,
+// address 112)
+var sensor = new sensorObj.MB704X();
+
+setInterval(function()
+{
+    console.log("Range: "
+                + sensor.getRange()
+                + " cm");
+
+}, 500);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/python/ecezo.py

@@ -0,0 +1,66 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 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.
+
+from __future__ import print_function
+import time, sys, signal, atexit
+from upm import pyupm_ecezo as sensorObj
+
+def main():
+    # Instantiate a ECEZO sensor on uart 0 at 9600 baud.
+    sensor = sensorObj.ECEZO(0, 9600, False);
+
+    # For I2C, assuming the device is configured for address 0x64 on
+    # I2C bus 0, you could use something like:
+    #
+    # sensor = sensorObj.ECEZO(0, 0x64, True);
+
+    ## Exit handlers ##
+    # This function stops python from printing a stacktrace when you
+    # hit control-C
+    def SIGINTHandler(signum, frame):
+        raise SystemExit
+
+    # This function lets you run code on exit
+    def exitHandler():
+        print("Exiting")
+        sys.exit(0)
+
+    # Register exit handlers
+    atexit.register(exitHandler)
+    signal.signal(signal.SIGINT, SIGINTHandler)
+
+    while (1):
+        sensor.update()
+
+        print("EC "
+              + str(sensor.getEC())
+              + " uS/cm, TDS "
+              + str(sensor.getTDS())
+              + " mg/L, Salinity "
+              + str(sensor.getSalinity())
+              + " PSS-78, SG "
+              + str(sensor.getSG()));
+        time.sleep(5)
+
+if __name__ == '__main__':
+    main()

examples/python/ims.py

@@ -0,0 +1,44 @@
+#!/usr/bin/python
+# Author: Noel Eck <noel.eck@intel.com>
+# Copyright (c) 2016 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.
+
+from __future__ import print_function
+import time, sys, signal, atexit
+from upm import pyupm_ims
+
+def main():
+    # Create an instance of the I2C Moisture Sensor
+    # I2C bus 0, default address = 0x20
+    ims = pyupm_ims.IMS(0)
+
+    print ('I2C moisture sensor example...')
+    while (1):
+        try:
+            print ('Version: %d light: 0x%04x moisture: 0x%04x temp: %3.2f C' \
+                    % (ims.get_version(), ims.get_light(), ims.get_moisture(),
+                    ims.get_temperature()))
+            time.sleep(1)
+        except KeyboardInterrupt:
+            break
+
+if __name__ == '__main__':
+    main()

examples/python/mb704x.py

@@ -0,0 +1,56 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016 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.
+
+from __future__ import print_function
+import time, sys, signal, atexit
+from upm import pyupm_mb704x as sensorObj
+
+def main():
+    # Instantiate a MB704X sensor using default parameters (bus 0,
+    # address 112)
+    sensor = sensorObj.MB704X();
+
+    ## Exit handlers ##
+    # This function stops python from printing a stacktrace when you
+    # hit control-C
+    def SIGINTHandler(signum, frame):
+        raise SystemExit
+
+    # This function lets you run code on exit
+    def exitHandler():
+        print("Exiting")
+        sys.exit(0)
+
+    # Register exit handlers
+    atexit.register(exitHandler)
+    signal.signal(signal.SIGINT, SIGINTHandler)
+
+    while (1):
+        print("Range: "
+              + str(sensor.getRange())
+              + " cm")
+
+        time.sleep(.5)
+
+if __name__ == '__main__':
+    main()

src/CMakeLists.txt

@@ -221,9 +221,6 @@ endmacro(upm_swig_node)
 macro(upm_swig_java)
   # Skip if the libname is in the blacklist
   if (NOT ";${JAVASWIG_BLACKLIST};" MATCHES ";${libname};")
-    FIND_PACKAGE (JNI REQUIRED)
-    pkg_check_modules (MRAAJAVA REQUIRED mraajava>=0.8.0)
-
     include_directories (
       ${JAVA_INCLUDE_PATH}
       ${JAVA_INCLUDE_PATH2}

src/ecezo/CMakeLists.txt

@@ -0,0 +1,9 @@
+upm_mixed_module_init (NAME ecezo
+    DESCRIPTION "EC EZO Atlas Scientific EC circuit"
+    C_HDR ecezo.h ecezo_defs.h
+    C_SRC ecezo.c
+    CPP_HDR ecezo.hpp
+    CPP_SRC ecezo.cxx
+    FTI_SRC ecezo_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/ecezo/ecezo.c

@@ -0,0 +1,674 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <stdlib.h>
+#include <string.h>
+#include <assert.h>
+#include <ctype.h>
+
+#include <upm_utilities.h>
+
+#include "ecezo.h"
+
+// "Typical" command completion delay in ms
+#define CMD_DELAY (350)
+
+// uncomment for dubugging
+//#define ECEZO_DEBUG (1)
+
+// I2C read helper
+static int readBytes(const ecezo_context dev, uint8_t *buffer, int len)
+{
+    assert(dev != NULL);
+    assert(dev->i2c != NULL);
+
+    bool done = false;
+    int rv;
+    int retries = 10;
+
+    while (!done && (retries-- > 0))
+    {
+        if ((rv = mraa_i2c_read(dev->i2c, buffer, len)) < 0)
+        {
+            printf("%s: mraa_i2c_read(code) failed.\n", __FUNCTION__);
+            return rv;
+        }
+
+#if defined(ECEZO_DEBUG)
+        printf("CODE: %02x\n", buffer[0]);
+#endif
+
+        if (buffer[0] == 0xff || buffer[0] == 0x02)
+        {
+            // no data available, or error
+            return -1;
+        }
+        else if (buffer[0] == 0x01)
+        {
+            // data is ready
+            done = true;
+
+            // now we need to move the data one byte down so the rest
+            // of this driver can work as-is.
+            memmove(buffer, (buffer + 1), len - 1);
+        }
+        else
+        {
+            // buffer[0] 0xfe - data is pending. wait and loop again.
+            upm_delay_ms(CMD_DELAY);
+        }
+    }
+
+    if (retries <= 0)
+    {
+        printf("%s: timed out waiting for correct response.\n", __FUNCTION__);
+        return -1;
+    }
+
+#if defined(ECEZO_DEBUG)
+    printf("%s: Got %d bytes\n", __FUNCTION__, rv);
+
+    for (int i=0; i<rv; i++)
+    {
+        printf("%02x (%c) ", buffer[i],
+               isprint(buffer[i]) ? buffer[i] : '@');
+    }
+    printf("\n");
+#endif // ECEZO_DEBUG
+
+    return rv;
+}
+
+static upm_result_t generic_init(const ecezo_context dev)
+{
+    assert(dev != NULL);
+
+    // do some generic initialization
+    bool error = false;
+
+    // turn off response (*OK) codes (UART only)
+    if (dev->uart)
+    {
+        if (ecezo_send_command(dev, "Response,0", NULL, 0) < 0)
+            error = true;
+    }
+
+    // turn off continuous sampling
+    if (ecezo_set_continuous(dev, false))
+        error = true;
+
+    // make sure all parameters are enabled
+    if (ecezo_send_command(dev, "O,EC,1", NULL, 0) < 0)
+        error = true;
+    if (ecezo_send_command(dev, "O,TDS,1", NULL, 0) < 0)
+        error = true;
+    if (ecezo_send_command(dev, "O,S,1", NULL, 0) < 0)
+        error = true;
+    if (ecezo_send_command(dev, "O,SG,1", NULL, 0) < 0)
+        error = true;
+
+    if (error)
+        return UPM_ERROR_OPERATION_FAILED;
+    else
+        return UPM_SUCCESS;
+}
+
+static upm_result_t decode_report(const ecezo_context dev, char *data)
+{
+    assert(dev != NULL);
+
+    char *startptr = data;
+    char *endptr = NULL;
+    float val;
+
+    // the format of the data string should be: ec,tds,s,sg
+
+    // ec
+    val = strtof(startptr, &endptr);
+
+    if (startptr == endptr)
+    {
+        // error
+        return UPM_ERROR_OPERATION_FAILED;
+    }
+
+    dev->ec = val;
+    startptr = endptr + 1;
+
+    // tds
+    val = strtof(startptr, &endptr);
+
+    // error
+    if (startptr == endptr)
+        return UPM_ERROR_OPERATION_FAILED;
+
+    dev->tds = val;
+    startptr = endptr + 1;
+
+    // salinity
+    val = strtof(startptr, &endptr);
+
+    // error
+    if (startptr == endptr)
+        return UPM_ERROR_OPERATION_FAILED;
+
+    dev->salinity = val;
+    startptr = endptr + 1;
+
+    // sg
+    val = strtof(startptr, &endptr);
+
+    if (startptr == endptr)
+        return UPM_ERROR_OPERATION_FAILED;
+
+    dev->sg = val;
+
+    return UPM_SUCCESS;
+}
+
+static bool ecezo_data_available(const ecezo_context dev, unsigned int millis)
+{
+    assert(dev != NULL);
+
+    // i2c, we don't support this
+    if (dev->i2c)
+    {
+        return false;
+    }
+
+    // uart
+    if (mraa_uart_data_available(dev->uart, millis))
+        return true;
+    else
+        return false;
+}
+
+// uart init
+ecezo_context ecezo_uart_init(unsigned int uart, unsigned int baudrate)
+{
+    // make sure MRAA is initialized
+    int mraa_rv;
+    if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
+    {
+        printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
+        return NULL;
+    }
+
+    ecezo_context dev =
+        (ecezo_context)malloc(sizeof(struct _ecezo_context));
+
+    if (!dev)
+        return NULL;
+
+    // zero out context
+    memset((void *)dev, 0, sizeof(struct _ecezo_context));
+
+    // initialize the MRAA contexts
+
+    // uart, default should be 8N1
+    if (!(dev->uart = mraa_uart_init(uart)))
+    {
+        printf("%s: mraa_uart_init() failed.\n", __FUNCTION__);
+        ecezo_close(dev);
+        return NULL;
+    }
+
+    if (mraa_uart_set_baudrate(dev->uart, baudrate))
+    {
+        printf("%s: mraa_uart_set_baudrate() failed.\n", __FUNCTION__);
+        ecezo_close(dev);
+        return NULL;
+    }
+
+    mraa_uart_set_flowcontrol(dev->uart, false, false);
+
+    if (generic_init(dev))
+    {
+        printf("%s: generic_init() failed.\n", __FUNCTION__);
+        ecezo_close(dev);
+        return NULL;
+    }
+
+    return dev;
+}
+
+// i2c ublox init
+ecezo_context ecezo_i2c_init(unsigned int bus, uint8_t addr)
+{
+    // make sure MRAA is initialized
+    int mraa_rv;
+    if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
+    {
+        printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
+        return NULL;
+    }
+
+    ecezo_context dev =
+        (ecezo_context)malloc(sizeof(struct _ecezo_context));
+
+    if (!dev)
+        return NULL;
+
+    // zero out context
+    memset((void *)dev, 0, sizeof(struct _ecezo_context));
+
+    // initialize the MRAA contexts
+
+    if (!(dev->i2c = mraa_i2c_init(bus)))
+    {
+        printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
+        ecezo_close(dev);
+        return NULL;
+    }
+
+    if (mraa_i2c_address(dev->i2c, addr))
+    {
+        printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
+        ecezo_close(dev);
+        return NULL;
+    }
+
+    if (generic_init(dev))
+    {
+        printf("%s: generic_init() failed.\n", __FUNCTION__);
+        ecezo_close(dev);
+        return NULL;
+    }
+
+    return dev;
+}
+
+void ecezo_close(ecezo_context dev)
+{
+    assert(dev != NULL);
+
+    if (dev->uart)
+        mraa_uart_stop(dev->uart);
+    if (dev->i2c)
+        mraa_i2c_stop(dev->i2c);
+
+    free(dev);
+}
+
+upm_result_t ecezo_set_continuous(const ecezo_context dev, bool enable)
+{
+    int rv;
+
+    if (enable)
+        rv = ecezo_send_command(dev, "C,1", NULL, 0);
+    else
+        rv = ecezo_send_command(dev, "C,0", NULL, 0);
+
+    return ((rv < 0) ? UPM_ERROR_OPERATION_FAILED : UPM_SUCCESS);
+}
+
+upm_result_t ecezo_set_temperature(const ecezo_context dev, float temp)
+{
+    char buffer[ECEZO_MAX_BUFFER_LEN];
+
+    snprintf(buffer, ECEZO_MAX_BUFFER_LEN, "T,%f", temp);
+
+    int rv = ecezo_send_command(dev, buffer, NULL, 0);
+
+    return ((rv < 0) ? UPM_ERROR_OPERATION_FAILED : UPM_SUCCESS);
+}
+
+upm_result_t ecezo_set_led(const ecezo_context dev, bool enable)
+{
+    int rv;
+
+    if (enable)
+        rv = ecezo_send_command(dev, "L,1", NULL, 0);
+    else
+        rv = ecezo_send_command(dev, "L,0", NULL, 0);
+
+    return ((rv < 0) ? UPM_ERROR_OPERATION_FAILED : UPM_SUCCESS);
+}
+
+upm_result_t ecezo_set_k_value(const ecezo_context dev, float k)
+{
+    char buffer[ECEZO_MAX_BUFFER_LEN];
+
+    // the K value must be between 0.1 and 10.0
+    if (k < 0.1 || k > 10.0)
+    {
+        printf("%s: K value must be between 0.1 and 10.0\n", __FUNCTION__);
+        return UPM_ERROR_OUT_OF_RANGE;
+    }
+
+    snprintf(buffer, ECEZO_MAX_BUFFER_LEN, "K,%f", k);
+
+    int rv = ecezo_send_command(dev, buffer, NULL, 0);
+
+    return ((rv < 0) ? UPM_ERROR_OPERATION_FAILED : UPM_SUCCESS);
+}
+
+upm_result_t ecezo_set_sleep(const ecezo_context dev, bool enable)
+{
+    int rv = 0;
+
+    if (enable)
+        rv =  ecezo_send_command(dev, "SLEEP", NULL, 0);
+    else
+    {
+        // "WAKE" isn't a real command, but should wake the device up.
+        // We ignore the return value, as it will likely be an error
+        // anyway.
+        ecezo_send_command(dev, "WAKE", NULL, 0);
+    }
+
+    return ((rv < 0) ? UPM_ERROR_OPERATION_FAILED : UPM_SUCCESS);
+}
+
+int ecezo_read(const ecezo_context dev, char *buffer, size_t len)
+{
+    assert(dev != NULL);
+
+    upm_delay_ms(CMD_DELAY); // delay CMD_DELAY ms to make sure cmd completed
+
+    // i2c
+    if (dev->i2c)
+    {
+        return readBytes(dev, (uint8_t *)buffer, len);
+    }
+    else
+    {
+        // UART
+        int bytesRead = 0;
+
+        while(bytesRead < len)
+        {
+            // we read one byte at a time, exiting when either len is
+            // reached, or a '\r' is found indicating the end of a
+            // sentence. Most commands (except 'R') require a minimum
+            // of 300ms to execute, so we wait up to CMD_DELAY ms after all
+            // data (if any) is read.
+            if (ecezo_data_available(dev, CMD_DELAY))
+            {
+                int br = mraa_uart_read(dev->uart, &buffer[bytesRead], 1);
+
+                if (br <= 0)
+                    return br;
+
+                if (buffer[bytesRead] == '\r')
+                {
+                    // if we found a CR, replace it with a 0 byte
+                    buffer[bytesRead++] = 0;
+                    return bytesRead;
+                }
+                bytesRead++;
+            }
+            else
+            {
+                // timed out - ok with responses disabled
+                return 0;
+            }
+        }
+    }
+
+    // anything else is an error
+    return -1;
+}
+
+upm_result_t ecezo_write(const ecezo_context dev, char *buffer, size_t len)
+{
+    assert(dev != NULL);
+
+    if (dev->uart)
+    {
+        if (mraa_uart_write(dev->uart, buffer, len) != len)
+        {
+            printf("%s: mraa_uart_write() failed.\n", __FUNCTION__);
+            return UPM_ERROR_OPERATION_FAILED;
+        }
+
+    }
+    else
+    {
+        // I2C
+        if (mraa_i2c_write(dev->i2c, (uint8_t *)buffer, len))
+        {
+            printf("%s: mraa_i2c_write() failed.\n", __FUNCTION__);
+            return UPM_ERROR_OPERATION_FAILED;
+        }
+    }
+
+    return UPM_SUCCESS;
+}
+
+int ecezo_send_command(const ecezo_context dev, char *cmd, char *buffer,
+                       int len)
+{
+    assert(dev != NULL);
+
+    if (!cmd)
+        return -1;
+
+    // Our local buffer in case one isn't supplied
+    char localBuffer[ECEZO_MAX_BUFFER_LEN];
+
+    // our read buffer ptr
+    char *readBuffer = NULL;
+
+    if (!buffer || !len)
+    {
+        readBuffer = localBuffer;
+        len = ECEZO_MAX_BUFFER_LEN;
+    }
+    else
+    {
+        readBuffer = buffer;
+    }
+
+#if defined(ECEZO_DEBUG)
+    printf("Command: %s\n", cmd);
+#endif // ECEZO_DEBUG
+
+    // our write buffer
+    char writeBuffer[ECEZO_MAX_BUFFER_LEN];
+
+    strncpy(writeBuffer, cmd, ECEZO_MAX_BUFFER_LEN);
+    writeBuffer[ECEZO_MAX_BUFFER_LEN - 1] = 0;
+
+    int writelen = strlen(writeBuffer);
+
+    if (dev->uart)
+    {
+        if (strlen(writeBuffer) >= ECEZO_MAX_BUFFER_LEN - 2)
+        {
+            // too big.  Should never happen in real life.
+            printf("%s: cmd writeBuffer too big.\n", __FUNCTION__);
+            return -1;
+        }
+
+        strcat(writeBuffer, "\r");
+    }
+
+    // for the uart this will now include the added CR, for I2C, this
+    // will now include the already existing \0 terminator.
+    writelen++;
+
+    // Let the games begin...
+    int retries = 10;
+
+    while (retries-- > 0)
+    {
+        if (ecezo_write(dev, writeBuffer, writelen))
+        {
+            printf("%s: ecezo_write() failed\n", __FUNCTION__);
+            return -1;
+        }
+
+        // we wait up to CMD_DELAY ms for an error response, which should be
+        // more than enough time.  No response is also ok, since we
+        // disable the "*OK" response in the init.
+
+        memset((void *)readBuffer, 0, len);
+        int bytesRead = 0;
+        if ((bytesRead = ecezo_read(dev, readBuffer, len)) < 0)
+        {
+            return -1;
+        }
+
+        // for I2C, we are done at this point
+        if (dev->i2c)
+            break;
+
+        // for UART, we need some more checks
+        if (bytesRead && strstr(readBuffer, "*ER"))
+        {
+            // need to retry the command
+#if defined(ECEZO_DEBUG)
+            printf("%s: *ER DETECTED, retry\n", __FUNCTION__);
+#endif // ECEZO_DEBUG
+            continue;
+        }
+        else if (bytesRead && strchr(readBuffer, '*'))
+        {
+            // Some other diagnostic code, output it.
+#if defined(ECEZO_DEBUG)
+            printf("%s: * diagnostic code detected (%s), retry\n",
+                   __FUNCTION__, buffer);
+#endif // ECEZO_DEBUG
+            continue;
+        }
+        else
+        {
+            // we are done here
+#if defined(ECEZO_DEBUG)
+            printf("%s: bytesRead = %d\n", __FUNCTION__, bytesRead);
+#endif // ECEZO_DEBUG
+
+            break;
+        }
+    }
+
+    if (retries <= 0)
+    {
+        printf("%s: read timed out and/or and retries exhausted\n",
+               __FUNCTION__);
+        return 0;
+    }
+
+    return len;
+}
+
+upm_result_t ecezo_update(const ecezo_context dev)
+{
+    assert(dev != NULL);
+
+    // first we send a 'R' command to get a reading (takes a minimum
+    // of 1 second), then we parse out the string values into the
+    // context variables.
+
+    char buffer[ECEZO_MAX_BUFFER_LEN];
+
+    // first issue the report command
+    int rv = ecezo_send_command(dev, "R", buffer, ECEZO_MAX_BUFFER_LEN);
+    if (rv == 0)
+    {
+        printf("%s: timed out waiting for data\n", __FUNCTION__);
+        return UPM_ERROR_OPERATION_FAILED;
+    }
+    else if (rv < 0)
+    {
+        printf("%s: error retrieving data\n", __FUNCTION__);
+        return UPM_ERROR_OPERATION_FAILED;
+    }
+
+    // decode
+    if (decode_report(dev, buffer))
+    {
+        printf("%s: decode_report() failed\n", __FUNCTION__);
+        return UPM_ERROR_OPERATION_FAILED;
+    }
+
+    return UPM_SUCCESS;
+}
+
+float ecezo_get_ec(const ecezo_context dev)
+{
+    assert(dev != NULL);
+
+    return dev->ec;
+}
+
+float ecezo_get_tds(const ecezo_context dev)
+{
+    assert(dev != NULL);
+
+    return dev->tds;
+}
+
+float ecezo_get_salinity(const ecezo_context dev)
+{
+    assert(dev != NULL);
+
+    return dev->salinity;
+}
+
+float ecezo_get_sg(const ecezo_context dev)
+{
+    assert(dev != NULL);
+
+    return dev->sg;
+}
+
+upm_result_t ecezo_calibrate(const ecezo_context dev, ECEZO_CALIBRATION_T cal,
+                             float ec)
+{
+    assert(dev != NULL);
+
+    char cmdBuffer[ECEZO_MAX_BUFFER_LEN];
+
+    switch(cal)
+    {
+    case ECEZO_CALIBRATE_CLEAR:
+        snprintf(cmdBuffer, ECEZO_MAX_BUFFER_LEN, "cal,clear");
+        break;
+
+    case ECEZO_CALIBRATE_DRY:
+        snprintf(cmdBuffer, ECEZO_MAX_BUFFER_LEN, "cal,dry");
+        break;
+
+    case ECEZO_CALIBRATE_ONE:
+        snprintf(cmdBuffer, ECEZO_MAX_BUFFER_LEN, "cal,one,%f", ec);
+        break;
+
+    case ECEZO_CALIBRATE_LOW:
+        snprintf(cmdBuffer, ECEZO_MAX_BUFFER_LEN, "cal,low,%f", ec);
+        break;
+
+    case ECEZO_CALIBRATE_HIGH:
+        snprintf(cmdBuffer, ECEZO_MAX_BUFFER_LEN, "cal,high,%f", ec);
+        break;
+
+    default:
+        // should be able to happen
+        printf("%s: invalid cal parameter\n", __FUNCTION__);
+        return UPM_ERROR_INVALID_PARAMETER;
+    }
+
+    return ecezo_send_command(dev, cmdBuffer, NULL, 0);
+}

src/ecezo/ecezo.cxx

@@ -0,0 +1,146 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <stdexcept>
+
+#include "ecezo.hpp"
+
+using namespace upm;
+using namespace std;
+
+ECEZO::ECEZO(unsigned int bus, unsigned int addrBaud, bool isI2C) :
+    m_ecezo(nullptr)
+{
+    if (isI2C)
+        m_ecezo = ecezo_i2c_init(bus, addrBaud);
+    else
+        m_ecezo = ecezo_uart_init(bus, addrBaud);
+
+    if (!m_ecezo)
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_*_init() failed");
+}
+
+ECEZO::~ECEZO()
+{
+    ecezo_close(m_ecezo);
+}
+
+void ECEZO::update()
+{
+    if (ecezo_update(m_ecezo))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_update() failed");
+}
+
+void ECEZO::setTemperature(float temp)
+{
+    if (ecezo_set_temperature(m_ecezo, temp))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_set_temperature() failed");
+}
+
+void ECEZO::setKValue(float k)
+{
+    if (ecezo_set_k_value(m_ecezo, k))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_set_k_value() failed");
+}
+
+void ECEZO::setSleep(bool enable)
+{
+    if (ecezo_set_sleep(m_ecezo, enable))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_set_sleep() failed");
+}
+
+float ECEZO::getEC()
+{
+    return ecezo_get_ec(m_ecezo);
+}
+
+float ECEZO::getTDS()
+{
+    return ecezo_get_tds(m_ecezo);
+}
+
+float ECEZO::getSalinity()
+{
+    return ecezo_get_salinity(m_ecezo);
+}
+
+float ECEZO::getSG()
+{
+    return ecezo_get_sg(m_ecezo);
+}
+
+void ECEZO::calibrate(ECEZO_CALIBRATION_T cal, float ec)
+{
+    if (ecezo_calibrate(m_ecezo, cal, ec))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_calibrate() failed");
+}
+
+void ECEZO::setContinuous(bool enable)
+{
+    if (ecezo_set_continuous(m_ecezo, enable))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_set_continuous() failed");
+}
+
+string ECEZO::sendCommand(string cmd)
+{
+    char buffer[ECEZO_MAX_BUFFER_LEN];
+
+    int rv;
+
+    if ((rv = ecezo_send_command(m_ecezo, (char *)cmd.c_str(),
+                                 buffer, ECEZO_MAX_BUFFER_LEN)) < 0)
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_send_command() failed");
+
+    return string(buffer, rv);
+}
+
+string ECEZO::read()
+{
+    char buffer[ECEZO_MAX_BUFFER_LEN];
+
+    int rv;
+
+    if ((rv = ecezo_read(m_ecezo, buffer, ECEZO_MAX_BUFFER_LEN)) < 0)
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_read() failed");
+
+    return string(buffer, rv);
+}
+
+void ECEZO::write(std::string data)
+{
+    if (ecezo_write(m_ecezo, (char*)data.data(),
+                    data.size()))
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": ecezo_write() failed");
+}

src/ecezo/ecezo.h

@@ -0,0 +1,267 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <stdint.h>
+#include <upm.h>
+#include <mraa/uart.h>
+#include <mraa/i2c.h>
+#include <mraa/gpio.h>
+
+#include "ecezo_defs.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /**
+     * @file ecezo.h
+     * @library ecezo
+     * @brief C API for the EC-EZO EC Sensor
+     *
+     * @include ecezo.c
+     */
+
+    /**
+     * Device context
+     */
+    typedef struct _ecezo_context {
+        mraa_uart_context        uart;
+        mraa_i2c_context         i2c;
+
+        // our values
+        float                    ec;          // electrical conductivity
+        float                    tds;         // total dissolved solids
+        float                    salinity;
+        float                    sg;          // specific gravity
+
+    } *ecezo_context;
+
+    /**
+     * ECEZO Initializer for UART operation
+     *
+     * @param uart Specify which uart to use.
+     * @param baudrate Specify the baudrate to use.  The device defaults
+     * to 9600 baud, though the datasheet implies the default is 38400.
+     * @return an initialized device context on success, NULL on error.
+     */
+    ecezo_context ecezo_uart_init(unsigned int uart, unsigned int baudrate);
+
+    /**
+     * ECEZO Initializer for I2C operation
+     *
+     * @param bus Specify which the I2C bus to use.
+     * @param addr Specify the I2C address to use.  This is
+     * configurable on the device, so there is no default.
+     * @return an initialized device context on success, NULL on error.
+     */
+    ecezo_context ecezo_i2c_init(unsigned int bus, uint8_t addr);
+
+    /**
+     * ECEZO sensor close function
+     */
+    void ecezo_close(ecezo_context dev);
+
+    /**
+     * Query the device for a reading, parse the response, and store
+     * the read values into the device context.  This function must be
+     * called prior to calling any function that returns the data,
+     * like ecezo_get_ec().
+     *
+     * @param dev Device context
+     * @return UPM result
+     */
+    upm_result_t ecezo_update(const ecezo_context dev);
+
+    /**
+     * For accurate readings, the temperature of the liquid being
+     * measured should be known. This function allows you to specify
+     * the liquid's temperature (in Celsius) so that proper
+     * compensation can take place.  How you measure this temperature
+     * is up to you.  By default, the device will assume a temperature
+     * of 25C.
+     *
+     * @param dev Device context
+     * @param temp The temperature of the liquid being measured
+     * @return UPM result
+     */
+    upm_result_t ecezo_set_temperature(const ecezo_context dev, float temp);
+
+    /**
+     * Set the K value of the probe being used.  By default, this is
+     * 1.0. Valid values are between 0.1 and 10.0.
+     *
+     * @param dev Device context
+     * @param k The K value of the probe
+     * @return UPM result
+     */
+    upm_result_t ecezo_set_k_value(const ecezo_context dev, float k);
+
+    /**
+     * Enable or disable Sleep mode.
+     *
+     * @param dev Device context
+     * @param enable True to enable sleep mode, false to wake up
+     * @return UPM result
+     */
+    upm_result_t ecezo_set_sleep(const ecezo_context dev, bool enable);
+
+    /**
+     * Retrieve the last measured Electrical Conductivity (EC) value
+     * in microsiemens.  ecezo_update() must have been called before
+     * calling this function.
+     *
+     * @param dev Device context
+     * @return EC value in microsiemens
+     */
+    float ecezo_get_ec(const ecezo_context dev);
+
+    /**
+     * Retrieve the last measured Total Dissolved solids (TDS) value.
+     * ecezo_update() must have been called before calling this
+     * function.
+     *
+     * @param dev Device context
+     * @return TDS value
+     */
+    float ecezo_get_tds(const ecezo_context dev);
+
+    /**
+     * Retrieve the last measured Salinity value.  ecezo_update() must
+     * have been called before calling this function.
+     *
+     * @param dev Device context
+     * @return Salinity value
+     */
+    float ecezo_get_salinity(const ecezo_context dev);
+
+    /**
+     * Retrieve the last measured Specific Gravity (SG) value.
+     * ecezo_update() must have been called before calling this
+     * function.
+     *
+     * @param dev Device context
+     * @return SG value
+     */
+    float ecezo_get_sg(const ecezo_context dev);
+
+    /**
+     * Specify calibration data for calibrating the device.  See the
+     * datasheet for details on how calibration is performed.  This
+     * function provides a mechanism for clearing out, and setting
+     * calibration data.
+     *
+     * A simple one point calibration might work as follows:
+     *
+     * 1. CLEAR the calibration data
+     * 2. with a dry probe, set the DRY point.
+     * 3. with the probe immersed in a standardized solution, set the
+     * ONE parameter to the solution's known EC value in microsiemens.
+     *
+     * A two point calibration might work as follows:
+     *
+     * 1. CLEAR the calibration data
+     * 2. with a dry probe, set the DRY point.
+     * 3. with the probe immersed in the lowest EC standardized
+     * solution, set the LOW parameter to the solution's known EC
+     * value in microsiemens.
+     * 4. with the probe immersed in the highest EC standardized
+     * solution, set the HIGH parameter to the solution's known EC
+     * value in microsiemens.
+     *
+     * @param dev Device context
+     * @param cal One of the ECEZO_CALIBRATION_T values
+     * @param ec The EC value of the calibration fluid.  This
+     * parameter is ignored when cal is either ECEZO_CALIBRATE_CLEAR
+     * or ECEZO_CALIBRATE_DRY.
+     * @return UPM result
+     */
+    upm_result_t ecezo_calibrate(const ecezo_context dev,
+                                 ECEZO_CALIBRATION_T cal,
+                                 float ec);
+
+    /**
+     * Enable or disable "continuous" operation.  In continuous
+     * operation, the device will sample and emit readings every
+     * second.  The driver disables this mode by default.  If you wish
+     * to use continuous mode, you will be responsible for reading and
+     * parsing the returned data yourself.
+     *
+     * The functionality of this driver depends on continuous mode
+     * being disabled.  When disabled, the driver will manually
+     * request a reading when desired via ecezo_update().
+     *
+     * @param dev Device context
+     * @param enable true to enable continuous mode, false to disable.
+     * @return UPM result
+     */
+    upm_result_t ecezo_set_continuous(const ecezo_context dev, bool enable);
+
+    /**
+     * Directly send a command to the device and optionally get a
+     * response.  This is a low level function and should not be
+     * called unless you know what you are doing.
+     *
+     * @param dev Device context
+     * @param cmd command to send to the device.  See the datasheet
+     * for valid commands.
+     * @param buffer Optional buffer in which to return any data.
+     * NULL if you are not interested in any returned data.
+     * @param len Length of the buffer, or 0 if you are not interested
+     * in returned data
+     * @return Number of characters read back, 0 if a timeout or no
+     * data, -1 if an error
+     */
+    int ecezo_send_command(const ecezo_context dev, char *cmd,
+                           char *buffer, int len);
+
+    /**
+     * Read character data from the device.  This is a low level
+     * function and should not be called unless you know what you are
+     * doing.
+     *
+     * @param dev sensor context
+     * @param buffer The character buffer to read data into.
+     * @param len The maximum size of the buffer
+     * @return The number of bytes successfully read, or -1 on error
+     */
+    int ecezo_read(const ecezo_context dev, char *buffer, size_t len);
+
+    /**
+     * Write character data to the device.  This is a low level
+     * function and should not be called unless you know what you are
+     * doing.
+     *
+     * @param dev sensor context
+     * @param buffer The character buffer containing data to write.
+     * @param len The number of bytes to write.
+     * @return The number of bytes successfully written, or -1 on error.
+     */
+    upm_result_t ecezo_write(const ecezo_context dev, char *buffer, size_t len);
+
+
+#ifdef __cplusplus
+}
+#endif

src/ecezo/ecezo.hpp

@@ -0,0 +1,238 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <iostream>
+
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "ecezo.h"
+
+namespace upm {
+    /**
+     * @brief API for the EC-EZO EC Sensor
+     * @defgroup ecezo libupm-ecezo
+     * @ingroup uart i2c liquid
+     */
+
+    /**
+     * @library ecezo
+     * @sensor ecezo
+     * @comname EC-EZO EC Sensor
+     * @type liquid
+     * @man sparkfun
+     * @con uart i2c
+     * @web https://www.sparkfun.com/products/12908
+     *
+     * @brief API for the EC-EZO EC Sensor
+     *
+     * This driver was tested with the Atlas Scientific Electrical
+     * Conductivity kit.
+     *
+     * This device can operate in either UART or I2C modes.
+     *
+     * @snippet ecezo.cxx Interesting
+     */
+
+    class ECEZO {
+    public:
+
+        /**
+         * ECEZO object constructor.  This can use either UART
+         * (default) or I2C communications.  For UART, specify the
+         * uart number as the bus parameter, the baudrate as the
+         * addrBaud parameter, and false for the isI2C parameter.
+         *
+         * For I2C, specify the bus parameter, the I2C address as the
+         * addrBaud parameter, and true for the isI2C parameter.
+         *
+         * @param bus Specify which uart or I2C bus to use
+         * @param addrBaud Specify the baudrate if using UART, or the
+         * I2C address of the device if using I2C.
+         * @param isI2C true if using I2C, false if using a UART
+         */
+        ECEZO(unsigned int bus=0, unsigned int addrBaud=9600,
+              bool isI2C=false);
+
+        /**
+         * ECEZO object destructor
+         */
+        ~ECEZO();
+
+        /**
+         * Query the device for a reading, parse the response, and store
+         * the read values into the device context.  This function must be
+         * called prior to calling any function that returns the data,
+         * like getEC().
+         */
+        void update();
+
+        /**
+         * For accurate readings, the temperature of the liquid being
+         * measured should be known. This function allows you to specify
+         * the liquid's temperature (in Celsius) so that proper
+         * compensation can take place.  How you measure this temperature
+         * is up to you.  By default, the device will assume a temperature
+         * of 25C.
+         *
+         * @param temp The temperature of the liquid being measured
+         * @return UPM result
+         */
+        void setTemperature(float temp);
+
+        /**
+         * Set the K value of the probe being used.  By default, this is
+         * 1.0. Valid values are between 0.1 and 10.0.
+         *
+         * @param k The K value of the probe
+          */
+        void setKValue(float k);
+
+        /**
+         * Enable or disable Sleep mode.
+         *
+         * @param enable True to enable sleep mode, false to wake up
+         */
+        void setSleep(bool enable);
+
+        /**
+         * Retrieve the last measured Electrical Conductivity (EC)
+         * value in microsiemens.  update() must have been called
+         * before calling this function.
+         *
+         * @return EC value in microsiemens
+         */
+        float getEC();
+
+        /**
+         * Retrieve the last measured Total Dissolved solids (TDS) value.
+         * update() must have been called before calling this
+         * function.
+         *
+         * @return TDS value
+         */
+        float getTDS();
+
+        /**
+         * Retrieve the last measured Salinity value.  update() must
+         * have been called before calling this function.
+         *
+         * @return Salinity value
+         */
+        float getSalinity();
+
+        /**
+         * Retrieve the last measured Specific Gravity (SG) value.
+         * update() must have been called before calling this
+         * function.
+         *
+         * @return SG value
+         */
+        float getSG();
+
+        /**
+         * Specify calibration data for calibrating the device.  See the
+         * datasheet for details on how calibration is performed.  This
+         * function provides a mechanism for clearing out, and setting
+         * calibration data.
+         *
+         * A simple one point calibration might work as follows:
+         *
+         * 1. CLEAR the calibration data
+         * 2. with a dry probe, set the DRY point.
+         * 3. with the probe immersed in a standardized solution, set the
+         * ONE parameter to the solution's known EC value in microsiemens.
+         *
+         * A two point calibration might work as follows:
+         *
+         * 1. CLEAR the calibration data
+         * 2. with a dry probe, set the DRY point.
+         * 3. with the probe immersed in the lowest EC standardized
+         * solution, set the LOW parameter to the solution's known EC
+         * value in microsiemens.
+         * 4. with the probe immersed in the highest EC standardized
+         * solution, set the HIGH parameter to the solution's known EC
+         * value in microsiemens.
+         *
+         * @param cal One of the ECEZO_CALIBRATION_T values
+         * @param ec The EC value of the calibration fluid.  This
+         * parameter is ignored when cal is either ECEZO_CALIBRATE_CLEAR
+         * or ECEZO_CALIBRATE_DRY.
+         */
+        void calibrate(ECEZO_CALIBRATION_T cal, float ec);
+
+
+    protected:
+        // ecezo device context
+        ecezo_context m_ecezo;
+
+        /**
+         * Enable or disable "continuous" operation.  In continuous
+         * operation, the device will sample and emit readings every
+         * second.  The driver disables this mode by default.  If you wish
+         * to use continuous mode, you will be responsible for reading and
+         * parsing the returned data yourself.
+         *
+         * The functionality of this driver depends on continuous mode
+         * being disabled.  When disabled, the driver will manually
+         * request a reading when desired via ecezo_update().
+         *
+         * @param enable true to enable continuous mode, false to disable.
+         */
+        void setContinuous(bool enable);
+
+        /**
+         * Directly send a command to the device and optionally get a
+         * response.  This is a low level function and should not be
+         * called unless you know what you are doing.
+         *
+         * @param cmd a String containing the command to send to the
+         * device.  See the datasheet for valid commands.
+         * @return The string response, if any
+         */
+        std::string sendCommand(std::string cmd);
+
+        /**
+         * Read character data from the device.  This is a low level
+         * function and should not be called unless you know what you are
+         * doing.
+         *
+         * @return A string containing the data read back, if any
+         */
+        std::string read();
+
+        /**
+         * Write character data to the device.  This is a low level
+         * function and should not be called unless you know what you are
+         * doing.
+         *
+         * @param data The string containing data to write.
+         */
+        void write(std::string data);
+
+    private:
+    };
+}

src/ecezo/ecezo_defs.h

@@ -0,0 +1,45 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// our maximum buffer size
+#define ECEZO_MAX_BUFFER_LEN (64)
+
+    // calibration commands
+    typedef enum {
+        ECEZO_CALIBRATE_CLEAR            = 0, // clear calibration
+        ECEZO_CALIBRATE_DRY,                  // cal dry point
+        ECEZO_CALIBRATE_ONE,                  // single point cal EC value
+        ECEZO_CALIBRATE_LOW,                  // 2-point cal, LOW EC value
+        ECEZO_CALIBRATE_HIGH                  // 2-point cal, HIGH EC value
+    } ECEZO_CALIBRATION_T;
+
+#ifdef __cplusplus
+}
+#endif

src/ecezo/ecezo_fti.c

@@ -0,0 +1,88 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 "ecezo.h"
+#include "upm_fti.h"
+
+/**
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_ecezo_name[] = "ECEZO";
+const char upm_ecezo_description[] = "EC-EZO EC sensor";
+const upm_protocol_t upm_ecezo_protocol[] = {UPM_UART, UPM_I2C};
+const upm_sensor_t upm_ecezo_category[] = {UPM_EC};
+
+// forward declarations
+const void* upm_ecezo_get_ft(upm_sensor_t sensor_type);
+void* upm_ecezo_init_name();
+void upm_ecezo_close(void *dev);
+upm_result_t upm_ecezo_get_value(const void *dev, float *value);
+
+static const upm_sensor_ft ft =
+{
+  .upm_sensor_init_name = &upm_ecezo_init_name,
+  .upm_sensor_close = &upm_ecezo_close,
+};
+
+static const upm_ec_ft ecft =
+{
+  .upm_ec_get_value = upm_ecezo_get_value
+};
+
+const void* upm_ecezo_get_ft(upm_sensor_t sensor_type)
+{
+  switch(sensor_type)
+    {
+    case UPM_SENSOR:
+      return &ft;
+
+    case UPM_EC:
+      return &ecft;
+
+    default:
+      return NULL;
+    }
+}
+
+void* upm_ecezo_init_name()
+{
+  return NULL;
+}
+
+void upm_ecezo_close(void *dev)
+{
+  ecezo_close((ecezo_context)dev);
+}
+
+upm_result_t upm_ecezo_get_value(const void *dev, float *value)
+{
+    upm_result_t rv;
+
+    if ((rv = ecezo_update((ecezo_context)dev)))
+        return rv;
+
+    *value = ecezo_get_ec((ecezo_context)dev);
+    return UPM_SUCCESS;
+}

src/ecezo/javaupm_ecezo.i

@@ -0,0 +1,22 @@
+%module javaupm_ecezo
+%include "../upm.i"
+%include "std_string.i"
+%include "stdint.i"
+%include "typemaps.i"
+
+%include "ecezo_defs.h"
+%include "ecezo.hpp"
+%{
+    #include "ecezo.hpp"
+%}
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_ecezo");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/ecezo/jsupm_ecezo.i

@@ -0,0 +1,9 @@
+%module jsupm_ecezo
+%include "../upm.i"
+%include "std_string.i"
+
+%include "ecezo_defs.h"
+%include "ecezo.hpp"
+%{
+    #include "ecezo.hpp"
+%}

src/ecezo/pyupm_ecezo.i

@@ -0,0 +1,13 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_ecezo
+%include "../upm.i"
+%include "std_string.i"
+
+%feature("autodoc", "3");
+
+%include "ecezo_defs.h"
+%include "ecezo.hpp"
+%{
+    #include "ecezo.hpp"
+%}

src/ecs1030/ecs1030.cxx

@@ -32,7 +32,7 @@
 
 using namespace upm;
 
-ECS1030::ECS1030 (uint8_t pinNumber) {
+ECS1030::ECS1030 (int pinNumber) {
     m_dataPinCtx = mraa_aio_init(pinNumber);
     if (m_dataPinCtx == NULL) {
       throw std::invalid_argument(std::string(__FUNCTION__) + 

src/ecs1030/ecs1030.hpp

@@ -83,7 +83,7 @@ class ECS1030 {
          *
          * @param pinNumber Number of the data pin
          */
-        ECS1030 (uint8_t pinNumber);
+        ECS1030 (int pinNumber);
 
         /**
          * ECS1030 object destructor; basically, it closes the GPIO.

src/groups.md

@@ -315,9 +315,14 @@ and is not meant to be installed anywhere.
 @brief Honeywell
 
 
-@defgroup maxim Maxim Integrated
+@defgroup sparkfun Sparkfun
 @ingroup byman
-@brief Maxim Integrated
+@brief Sparkfun
+
+
+@defgroup maxbotix MaxBotixs
+@ingroup byman
+@brief MaxBotixs
 
 
 @defgroup meas Measurement Specialties

src/groveultrasonic/groveultrasonic.cxx

@@ -33,7 +33,7 @@
 
 using namespace upm;
 
-GroveUltraSonic::GroveUltraSonic (uint8_t pin) {
+GroveUltraSonic::GroveUltraSonic (int pin) {
     m_name = "GroveUltraSonic";
 
     mraa_init();

src/groveultrasonic/groveultrasonic.hpp

@@ -69,7 +69,7 @@ class GroveUltraSonic {
          *
          * @param pin pin for triggering the sensor for distance and for receiving pulse response
          */
-        GroveUltraSonic (uint8_t pin);
+        GroveUltraSonic (int pin);
 
         /**
          * GroveUltraSonic object destructor.

src/hcsr04/hcsr04.cxx

@@ -38,7 +38,7 @@
 
 using namespace upm;
 
-HCSR04::HCSR04 (uint8_t triggerPin, uint8_t echoPin) {
+HCSR04::HCSR04 (int triggerPin, int echoPin) {
     m_name              = "HCSR04";
 
     m_triggerPinCtx     = mraa_gpio_init (triggerPin);

src/hcsr04/hcsr04.hpp

@@ -65,7 +65,7 @@ class HCSR04 {
          * @param fptr Function pointer to handle rising-edge and
          * falling-edge interrupts
          */
-        HCSR04 (uint8_t triggerPin, uint8_t echoPin);
+        HCSR04 (int triggerPin, int echoPin);
         /**
          * HCSR04 object destructor
          */

src/hx711/hx711.cxx

@@ -30,7 +30,7 @@
 using namespace upm;
 using namespace std;
 
-HX711::HX711(uint8_t data, uint8_t sck, uint8_t gain) {
+HX711::HX711(int data, int sck, uint8_t gain) {
     mraa_result_t error = MRAA_SUCCESS;
 
     this->m_dataPinCtx = mraa_gpio_init(data);

src/hx711/hx711.hpp

@@ -63,7 +63,7 @@ namespace upm {
             * @param gain Defines the gain factor
             * Valid values are 128 or 64 for channel A; channel B works with a 32-gain factor only
             */
-            HX711(uint8_t data, uint8_t sck, uint8_t gain = 128);
+            HX711(int data, int sck, uint8_t gain = 128);
 
             /**
             * HX711 destructor

src/ili9341/ili9341.cxx

@@ -37,7 +37,7 @@
 
 using namespace upm;
 
-ILI9341::ILI9341(uint8_t csLCD, uint8_t csSD, uint8_t dc, uint8_t rst) :
+ILI9341::ILI9341(int csLCD, int csSD, int dc, int rst) :
     GFX(ILI9341_TFTWIDTH, ILI9341_TFTHEIGHT), m_csLCDPinCtx(csLCD), 
     m_csSDPinCtx(csSD), m_dcPinCtx(dc), m_rstPinCtx(rst), m_spi(0) {
     

src/ili9341/ili9341.hpp

@@ -159,7 +159,7 @@ namespace upm {
              * @param dc Data/command pin
              * @param rst Reset pin
              */
-            ILI9341(uint8_t csLCD, uint8_t csSD, uint8_t dc, uint8_t rst);
+            ILI9341(int csLCD, int csSD, int dc, int rst);
 
             /**
              * Returns the name of the component

src/ims/CMakeLists.txt

@@ -0,0 +1,9 @@
+upm_mixed_module_init (NAME ims
+    DESCRIPTION "Catnip Electronics I2C moisture sensor"
+    C_HDR ims.h
+    C_SRC ims.c
+    CPP_HDR ims.hpp
+    CPP_SRC ims.cxx
+    FTI_SRC ims_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/ims/ims.c

@@ -0,0 +1,207 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <stdlib.h>
+#include <syslog.h>
+
+#include "ims.h"
+
+ims_context* ims_init(int16_t i2c_bus, int16_t i2c_address)
+{
+    /* Allocate space for the sensor structure */
+    ims_context* dev = (ims_context*) malloc(sizeof(ims_context));
+    if(dev == NULL)
+    {
+        syslog(LOG_CRIT, "%s: malloc() failed\n", __FUNCTION__);
+        goto ims_init_fail;
+    }
+
+    /* Initilize mraa */
+    mraa_result_t result = mraa_init();
+    if (result != MRAA_SUCCESS)
+    {
+        syslog(LOG_ERR, "%s: mraa_init() failed (%d)\n", __FUNCTION__, result);
+        goto ims_init_fail;
+    }
+
+    /* Init i2c */
+    dev->_i2c_context = mraa_i2c_init(i2c_bus);
+    if(dev->_i2c_context == NULL)
+    {
+        syslog(LOG_ERR, "%s: mraa_i2c_init() failed\n", __FUNCTION__);
+        goto ims_init_fail;
+    }
+
+    /* Set the i2c slave address for this device */
+    if (mraa_i2c_address(dev->_i2c_context, i2c_address) != MRAA_SUCCESS)
+    {
+        syslog(LOG_ERR, "%s: mraa_i2c_address() failed\n", __FUNCTION__);
+        goto ims_init_fail;
+    }
+
+    /* This device must run at 100kHz */
+    if (mraa_i2c_frequency(dev->_i2c_context, MRAA_I2C_STD))
+    {
+        syslog(LOG_ERR, "%s: mraa_i2c_frequency() failed\n", __FUNCTION__);
+        goto ims_init_fail;
+    }
+
+    return dev;
+
+/* Handle all failing cases here */
+ims_init_fail:
+    /* Free structure memory if allocated */
+    if (dev != NULL)
+        free(dev);
+    return NULL;
+}
+
+void ims_close(ims_context* dev)
+{
+    if (dev == NULL) return;
+
+    /* Cleanup the I2C context */
+    mraa_i2c_stop(dev->_i2c_context);
+    free(dev);
+}
+
+upm_result_t ims_read(const ims_context* dev, IMS_RD_COMMAND cmd, uint16_t* rd_data)
+{
+    int32_t val = 0;
+    uint8_t readbuf[2] = {0, 0};
+    switch (cmd)
+    {
+        /* One byte reads */
+        case IMS_GET_ADDRESS:
+        case IMS_GET_VERSION:
+        case IMS_GET_BUSY:
+            val = mraa_i2c_read_bytes_data(dev->_i2c_context, cmd, readbuf, 1);
+            *rd_data = readbuf[0];
+            break;
+        /* Two byte reads */
+        case IMS_GET_CAPACITANCE:
+        case IMS_GET_LIGHT:
+        case IMS_GET_TEMPERATURE:
+            val = mraa_i2c_read_bytes_data(dev->_i2c_context, cmd, readbuf, 2);
+            *rd_data = readbuf[1];
+            *rd_data += ((uint16_t)readbuf[0] << 8) & 0xFF00;
+            break;
+        default:
+            syslog(LOG_ERR, "%s: Invalid read command: 0x%02x\n", __FUNCTION__, cmd);
+            return UPM_ERROR_INVALID_PARAMETER;
+    }
+
+    /* val will be < 0 on failing case */
+    if (val < 0)
+    {
+        syslog(LOG_ERR, "%s: mraa_i2c_read_byte/word_data() failed\n", __FUNCTION__);
+        return UPM_ERROR_NO_DATA;
+    }
+
+    return UPM_SUCCESS;
+}
+
+upm_result_t ims_write(const ims_context* dev, IMS_WR_COMMAND cmd, uint8_t wr_data)
+{
+    mraa_result_t mr;
+    switch (cmd)
+    {
+        /* One byte write */
+        case IMS_SET_ADDRESS:
+            mr = mraa_i2c_write_byte_data(dev->_i2c_context, wr_data, cmd);
+            break;
+        /* Zero byte write */
+        case IMS_MEASURE_LIGHT:
+        case IMS_RESET:
+        case IMS_SLEEP:
+            mr = mraa_i2c_write(dev->_i2c_context, (const uint8_t *)&cmd, 1);
+            break;
+        default:
+            syslog(LOG_ERR, "%s: Invalid read command: 0x%02x\n", __FUNCTION__, cmd);
+            return UPM_ERROR_INVALID_PARAMETER;
+    }
+
+    if (mr != MRAA_SUCCESS) return UPM_ERROR_OPERATION_FAILED;
+
+    return UPM_SUCCESS;
+}
+
+upm_result_t ims_get_version(const ims_context* dev, uint16_t* rd_data)
+{
+    return ims_read(dev, IMS_GET_VERSION, rd_data);
+}
+
+upm_result_t ims_get_moisture(const ims_context* dev, uint16_t* rd_data)
+{
+    return ims_read(dev, IMS_GET_CAPACITANCE, rd_data);
+}
+
+upm_result_t ims_get_light(const ims_context* dev, uint16_t* rd_data)
+{
+    /* Initiate a light measurement */
+    upm_result_t res = ims_write(dev, IMS_MEASURE_LIGHT, 0);
+    if (res != UPM_SUCCESS) return res;
+
+    /* Technical data for the ISM specifies a 3 second wait.  Check the BUSY
+     * command every 100 ms for 3 seconds.  The sensor will return quickly in
+     * bright light and much slower in less light. */
+    int retry = 30;
+    *rd_data = 1;
+    while ((retry-- > 0) && (*rd_data != 0))
+    {
+        // Always delay at least 100 ms
+        upm_delay_ms(100);
+        res = ims_read(dev, IMS_GET_BUSY, rd_data);
+        if (res != UPM_SUCCESS) return res;
+    }
+
+    /* If the sensor is STILL not ready, go ahead and perform the read.
+     * From testing, this appears to happen only in complete darkness,
+     * at which point the sensor get light read returns 0xffff anyway.*/
+
+    return ims_read(dev, IMS_GET_LIGHT, rd_data);
+}
+
+upm_result_t ims_get_temperature(const ims_context* dev, uint16_t* rd_data)
+{
+    return ims_read(dev, IMS_GET_TEMPERATURE, rd_data);
+}
+
+upm_result_t ims_reset(const ims_context* dev)
+{
+    return ims_write(dev, IMS_RESET, 0);
+}
+
+upm_result_t ims_reset_i2c_address(const ims_context* dev, uint8_t address_new)
+{
+    upm_result_t res = ims_write(dev, IMS_SET_ADDRESS, address_new);
+    if (res != UPM_SUCCESS) return res;
+
+    return ims_reset(dev);
+}
+
+upm_result_t ims_sleep(const ims_context* dev)
+{
+    return ims_write(dev, IMS_SLEEP, 0);
+}

src/ims/ims.cxx

@@ -0,0 +1,110 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <stdexcept>
+
+#include "ims.hpp"
+
+using namespace upm;
+
+IMS::IMS(int16_t i2c_bus, int16_t i2c_address) :
+    _dev(ims_init(i2c_bus, i2c_address))
+{
+    if (_dev == NULL)
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": failed to initialize sensor, check syslog");
+}
+
+uint16_t IMS::get_version()
+{
+    uint16_t retval;
+    if (ims_get_version(_dev, &retval) != UPM_SUCCESS)
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": ims_get_version command failed");
+    return retval;
+}
+
+uint16_t IMS::get_moisture()
+{
+    uint16_t retval;
+    if (ims_get_moisture(_dev, &retval) != UPM_SUCCESS)
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": ims_get_moisture command failed");
+    return retval;
+}
+
+uint16_t IMS::get_light()
+{
+    uint16_t retval;
+    if (ims_get_light(_dev, &retval) != UPM_SUCCESS)
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": ims_get_light command failed");
+    return retval;
+}
+
+float IMS::get_temperature()
+{
+    uint16_t retval;
+    if (ims_get_temperature(_dev, &retval) != UPM_SUCCESS)
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": ims_get_temperature command failed");
+    return static_cast<float>(retval)/10.0;
+}
+
+void IMS::reset_i2c_address(uint8_t address_new)
+{
+    if (ims_reset_i2c_address(_dev, address_new) != UPM_SUCCESS)
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": reset_i2c_address command failed");
+}
+
+void IMS::reset()
+{
+    if ( ims_write(_dev, IMS_RESET, 1) != UPM_SUCCESS )
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": ims_write command failed");
+}
+
+uint16_t IMS::read(IMS_RD_COMMAND cmd)
+{
+    uint16_t retval;
+    if (ims_read(_dev, cmd, &retval) != UPM_SUCCESS)
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": ims_read command failed");
+    return retval;
+}
+
+void IMS::write(IMS_WR_COMMAND cmd, uint8_t value)
+{
+    if ( ims_write(_dev, cmd, value) != UPM_SUCCESS )
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": ims_write command failed");
+}
+
+void IMS::sleep()
+{
+    if ( ims_sleep(_dev) != UPM_SUCCESS )
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                ": ims_sleep command failed");
+}

src/ims/ims.h

@@ -0,0 +1,178 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <errno.h>
+#include <stdint.h>
+
+#include "mraa/i2c.h"
+#include "upm.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define IMS_ADDRESS_DEFAULT 0x20
+
+ /* @brief Moisture sensor I2C READ commands */
+typedef enum _IMS_RD_COMMAND {
+        /* Read capacitance (moisture) register */
+        IMS_GET_CAPACITANCE = 0x00, /*    (r) 2 */
+        /* Read I2C address register */
+        IMS_GET_ADDRESS     = 0x02, /*    (r) 1 */
+        /* Read light register (requires write to IMS_MEASURE_LIGHT) */
+        IMS_GET_LIGHT       = 0x04, /*    (r) 2 */
+        /* Read temperature register */
+        IMS_GET_TEMPERATURE = 0x05, /*    (r) 2 */
+        /* Read version register */
+        IMS_GET_VERSION     = 0x07, /*    (r) 1 */
+        /* Read busy register (0 = ready, 1 = sampling) */
+        IMS_GET_BUSY        = 0x09, /*    (r) 1 */
+} IMS_RD_COMMAND;
+
+ /* @brief Moisture sensor I2C WRITE commands */
+typedef enum {
+        /* Write I2C address register (latched w/IMS_RESET) */
+        IMS_SET_ADDRESS     = 0x01, /*    (w) 1 */
+        /* Initiate light measurement */
+        IMS_MEASURE_LIGHT   = 0x03, /*    (w) 0 */
+        /* Reset device */
+        IMS_RESET           = 0x06, /*    (w) 0 */
+        /* Sleep microcontroller, wake on any I2C request */
+        IMS_SLEEP           = 0x08, /*    (w) 0 */
+} IMS_WR_COMMAND;
+
+/**
+ * @file ims.h
+ * @library ims
+ * @brief C API for the Catnip Electronics I2C moisture sensor.  This sensor
+ * must run at 100 kHz.
+ *
+ * @include ims.c
+ */
+
+/**
+ * device context
+ */
+typedef struct {
+    /* mraa i2c context */
+    mraa_i2c_context _i2c_context;
+} ims_context;
+
+/**
+ * Initialize sensor
+ * @param i2c_bus Target I2C bus
+ * @param i2c_address Target I2C address (default is 0x20)
+ * @return sensor context pointer
+ */
+ims_context* ims_init(int16_t i2c_bus, int16_t i2c_address);
+
+/**
+ * Sensor close method.
+ * Cleans up any memory held by this device
+ * @param sensor context pointer
+ */
+void ims_close(ims_context* dev);
+
+/**
+ * Read I2C Moisture Sensor registers
+ * @param dev Sensor context pointer
+ * @param cmd Read command
+ * @param rd_data Data returned from sensor (1 or 2 bytes depending on cmd)
+ * @return Function result code
+ */
+upm_result_t ims_read(const ims_context* dev, IMS_RD_COMMAND cmd, uint16_t* rd_data);
+
+/**
+ * Write I2C Moisture Sensor registers
+ * @param dev Sensor context pointer
+ * @param cmd Write command
+ * @param wr_data Target data to write (only used for IMS_SET_ADDRESS)
+ * @return Function result code
+ */
+upm_result_t ims_write(const ims_context* dev, IMS_WR_COMMAND cmd, uint8_t wr_data);
+
+/**
+ * Get sensor version
+ * @param dev Sensor context pointer
+ * @param rd_data Sensor version
+ * @return Function result code
+ */
+upm_result_t ims_get_version(const ims_context* dev, uint16_t* rd_data);
+
+/**
+ * Get moisture reading from sensor
+ * @param dev Sensor context pointer
+ * @param rd_data Unitless, relative capacitance value (used to determine moisture)
+ * @return Function result code
+ */
+upm_result_t ims_get_moisture(const ims_context* dev, uint16_t* rd_data);
+
+/**
+ * Get light reading from LED on device.  The technical data for the I2C
+ * moisture sensor specifies a 3 second wait.  Loop for 3 seconds checking
+ * the GET_BUSY register.  IF the sensor is NOT ready after 3 seconds,
+ * assume there is NO light and return a max uint16_t (dark) value.
+ * @param dev Sensor context pointer
+ * @param rd_data Unitless, relative value for brightness
+ *        dark (0xFFFF) ---> light (0x0000)
+ * @return Function result code
+ */
+upm_result_t ims_get_light(const ims_context* dev, uint16_t* rd_data);
+
+/**
+ * Get temperature reading from device
+ * @param dev Sensor context pointer
+ * @param rd_data Temperature in degrees Celsius * 10
+ *        ie, 256 = 25.6 C
+ * @return Function result code
+ */
+upm_result_t ims_get_temperature(const ims_context* dev, uint16_t* rd_data);
+
+/**
+ * Reset sensor
+ * @param dev Sensor context pointer
+ * @return Function result code
+ */
+upm_result_t ims_reset(const ims_context* dev);
+
+/**
+ * Set I2C address AND reset sensor
+ * @param dev Sensor context pointer
+ * @param address_new New I2C for device
+ * @return Function result code
+ */
+upm_result_t ims_reset_i2c_address(const ims_context* dev, uint8_t address_new);
+
+/**
+ * Put device into low-power mode.  Device wakes on any I2C command.
+ * @param dev Sensor context pointer
+ * @return Function result code
+ */
+upm_result_t ims_sleep(const ims_context* dev);
+
+#ifdef __cplusplus
+}
+#endif

src/ims/ims.hpp

@@ -0,0 +1,148 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "mraa/i2c.h"
+#include "ims.h"
+
+namespace upm {
+/**
+ * @brief Catnip Electronics I2C moisture sensor
+ * @defgroup ims libupm-ims
+ * @ingroup catnip i2c liquid light temp
+ */
+
+/**
+ * @library ims
+ * @sensor ims
+ * @comname Catnip Electronics I2C moisture sensor
+ * @type liquid light temp
+ * @man catnip
+ * @web https://www.tindie.com/products/miceuz/i2c-soil-moisture-sensor/
+ * @con i2c
+ *
+ * @brief API for the Catnip Electronics I2C moisture sensor
+ *
+ * I2C sensor which can be used to read:
+ *    moisture
+ *    light
+ *    temperature
+ *
+ *    This sensor must run at 100 kHz
+ *
+ * @image html ims.png
+ * @snippet ims.cxx Interesting
+ */
+
+class IMS {
+    public:
+        /**
+         * I2C Moisture Sensor constructor
+         *
+         * Initialize I2C Moisture Sensor
+         * @param i2c_bus Target I2C bus
+         * @param i2c_address Target I2C address (default is 0x20)
+         * @return sensor context pointer
+         * @throws std::runtime_error if sensor initializate fails
+         */
+        IMS(int16_t i2c_bus, int16_t i2c_address = IMS_ADDRESS_DEFAULT);
+
+        /**
+         * IMS destructor
+         */
+        virtual ~IMS() {};
+
+        /**
+         * Write I2C Moisture Sensor registers
+         * @param cmd Write command
+         * @param wr_data Target data to write (only used for IMS_SET_ADDRESS)
+         * @throws std::runtime_error if I2C write command fails
+         */
+        void write(IMS_WR_COMMAND cmd, uint8_t wr_data);
+
+        /**
+         * Read I2C Moisture Sensor registers
+         * @param cmd Read command
+         * @return Data returned from sensor (1 or 2 bytes depending on CMD)
+         * @throws std::runtime_error if I2C read command fails
+         */
+        uint16_t read(IMS_RD_COMMAND cmd);
+
+        /**
+         * Get sensor version
+         * @return Sensor version
+         * @throws std::runtime_error if I2C read command fails
+         */
+        uint16_t get_version();
+
+        /**
+         * Get moisture reading from sensor
+         * @return Unitless, relative capacitance value (moisture)
+         * @throws std::runtime_error if I2C read command fails
+         */
+        uint16_t get_moisture();
+
+        /**
+         * Get light reading from LED on device.  The technical data for the I2C
+         * moisture sensor specifies a 3 second wait.  Loop for 3 seconds
+         * checking the GET_BUSY register.  IF the sensor is NOT ready after 3
+         * seconds, assume there is NO light and return a max uint16_t (dark)
+         * value.
+         * @return rd_data Unitless, relative value for brightness
+         *        dark (0xFFFF) ---> light (0x0000)
+         * @throws std::runtime_error if I2C write/read command fails
+         */
+        uint16_t get_light();
+
+        /**
+         * Get temperature reading from device
+         * @return rd_data Temperature in degrees Celsius
+         * @throws std::runtime_error if I2C read command fails
+         */
+        float get_temperature();
+
+        /**
+         * Reset sensor
+         * @throws std::runtime_error if I2C write command fails
+         */
+        void reset();
+
+        /**
+         * Set I2C address AND reset sensor
+         * @param address_new New I2C for device
+         * @throws std::runtime_error if I2C write command fails
+         */
+        void reset_i2c_address(uint8_t address_new);
+
+        /**
+         * Put device into low-power mode.  Device wakes on any I2C command.
+         * @throws std::runtime_error if I2C write command fails
+         */
+        void sleep();
+    private:
+        /* device context struct */
+        ims_context* _dev;
+};
+}

src/ims/ims_fti.c

@@ -0,0 +1,146 @@
+/*
+ * Author: Noel Eck <noel.eck@intel.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <string.h>
+#include <stdlib.h>
+
+#include "ims.h"
+#include "upm_fti.h"
+#include "fti/upm_sensor.h"
+
+/** 
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_ims_name[] = "IMS";
+const char upm_ims_description[] = "Catnip Electronics I2C moisture sensor";
+const upm_protocol_t upm_ims_protocol[] = {UPM_I2C};
+const upm_sensor_t upm_ims_category[] = {UPM_LIGHT, UPM_TEMPERATURE, UPM_MOISTURE};
+
+// forward declarations
+const void* upm_ims_get_ft(upm_sensor_t sensor_type);
+void* upm_ims_init_str(const char* protocol, const char* params);
+void upm_ims_close(void* dev);
+const upm_sensor_descriptor_t upm_ims_get_descriptor();
+upm_result_t upm_ims_get_light(const void* dev, float *value);
+upm_result_t upm_ims_get_temperature(void* dev, float *value, upm_temperature_u unit);
+upm_result_t upm_ims_get_moisture(void* dev, int *value);
+
+/* This sensor implementes 2 function tables */
+/* 1. Generic base function table */
+static const upm_sensor_ft ft_gen =
+{
+    .upm_sensor_init_name = &upm_ims_init_str,
+    .upm_sensor_close = &upm_ims_close,
+    .upm_sensor_get_descriptor = &upm_ims_get_descriptor
+};
+
+/* 2. Light function table */
+static const upm_light_ft ft_light =
+{
+    .upm_light_set_offset = NULL,
+    .upm_light_set_scale = NULL,
+    .upm_light_get_value = &upm_ims_get_light
+};
+
+/* 3. Light function table */
+static const upm_temperature_ft ft_temperature =
+{
+    .upm_temperature_set_offset = NULL,
+    .upm_temperature_set_scale = NULL,
+    .upm_temperature_get_value = &upm_ims_get_temperature
+};
+
+/* 4. Light function table */
+static const upm_moisture_ft ft_moisture =
+{
+    .upm_moisture_sensor_get_moisture = &upm_ims_get_moisture
+};
+
+const void* upm_ims_get_ft(upm_sensor_t sensor_type)
+{
+    switch(sensor_type)
+    {
+        case UPM_SENSOR:
+            return &ft_gen;
+        case UPM_LIGHT:
+            return &ft_light;
+        case UPM_TEMPERATURE:
+            return &ft_temperature;
+        case UPM_MOISTURE:
+            return &ft_moisture;
+        default:
+            return NULL;
+    }
+}
+
+void* upm_ims_init_str(const char* protocol, const char* params)
+{
+    fprintf(stderr,
+            "String initialization - not implemented, using i2c bus 0, addr: 0x20: %s\n", __FILENAME__);
+    return ims_init(0, 0x20);
+}
+
+void upm_ims_close(void* dev)
+{
+    ims_close(dev);
+}
+
+const upm_sensor_descriptor_t upm_ims_get_descriptor()
+{
+    /* Fill in the descriptor */
+    upm_sensor_descriptor_t usd;
+    usd.name = upm_ims_name;
+    usd.description = upm_ims_description;
+    usd.protocol_size = 1;
+    usd.protocol = upm_ims_protocol;
+    usd.category_size = 3;
+    usd.category = upm_ims_category;
+
+    return usd;
+}
+
+upm_result_t upm_ims_get_light(const void* dev, float *value)
+{
+    uint16_t data;
+    upm_result_t result = ims_get_light((ims_context*)dev, &data);
+    *value = data;
+    return result;
+}
+
+upm_result_t upm_ims_get_temperature(void* dev, float *value, upm_temperature_u unit)
+{
+    uint16_t data;
+    upm_result_t result = ims_get_temperature((ims_context*)dev, &data);
+    *value = data;
+    return result;
+}
+
+upm_result_t upm_ims_get_moisture(void* dev, int *value)
+{
+    uint16_t data;
+    upm_result_t result = ims_get_moisture((ims_context*)dev, &data);
+    *value = data;
+    return result;
+}

src/ims/javaupm_ims.i

@@ -0,0 +1,20 @@
+%module javaupm_ims
+%include "../upm.i"
+
+%{
+    #include "ims.hpp"
+%}
+
+%include "ims.h"
+%include "ims.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_ims");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/ims/jsupm_ims.i

@@ -0,0 +1,9 @@
+%module jsupm_ims
+%include "../upm.i"
+
+%{
+    #include "ims.hpp"
+%}
+
+%include "ims.h"
+%include "ims.hpp"

src/ims/pyupm_ims.i

@@ -0,0 +1,13 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_ims
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%{
+    #include "ims.hpp"
+%}
+
+%include "ims.h"
+%include "ims.hpp"

src/lcd/lcm1602.cxx

@@ -100,8 +100,8 @@ Lcm1602::Lcm1602(int bus_in, int addr_in, bool isExpander,
     home();
 }
 
-Lcm1602::Lcm1602(uint8_t rs,  uint8_t enable, uint8_t d0, 
+Lcm1602::Lcm1602(int rs,  int enable, int d0, 
-                 uint8_t d1, uint8_t d2, uint8_t d3,
+                 int d1, int d2, int d3,
                  uint8_t numColumns, uint8_t numRows) :
   m_numColumns(numColumns), m_numRows(numRows),
   m_i2c_lcd_control(0),  

src/lcd/lcm1602.hpp

@@ -97,8 +97,8 @@ class Lcm1602 : public LCD
      * @param numColumns Number of columns the display has. Default 16.
      * @param numRows Number of rows the display has. Default 2.
      */
-    Lcm1602(uint8_t rs,  uint8_t enable,
+    Lcm1602(int rs,  int enable,
-            uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
+            int d0, int d1, int d2, int d3,
             uint8_t numColumns = 16, uint8_t numRows = 2);
 
     /**

src/lcd/sainsmartks.cxx

@@ -29,9 +29,9 @@
 
 using namespace upm;
 
-SAINSMARTKS::SAINSMARTKS(uint8_t rs,  uint8_t enable,
+SAINSMARTKS::SAINSMARTKS(int rs,  int enable,
-                         uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
+                         int d0, int d1, int d2, int d3,
-                         uint8_t keypad)
+                         int keypad)
   : Lcm1602(rs, enable, d0, d1, d2, d3),
     m_aioKeypad(keypad)
 {

src/lcd/sainsmartks.hpp

@@ -69,9 +69,9 @@ namespace upm
      * @param d3 data 3 pin
      * @param keypad analog pin of the keypad
      */
-    SAINSMARTKS(uint8_t rs=8,  uint8_t enable=9,
+    SAINSMARTKS(int rs=8,  int enable=9,
-                uint8_t d0=4, uint8_t d1=5, uint8_t d2=6, uint8_t d3=7,
+                int d0=4, int d1=5, int d2=6, int d3=7,
-                uint8_t keypad=0);
+                int keypad=0);
     /**
      * SAINSMARTKS destructor
      */

src/lcm1602/lcm1602.cxx

@@ -49,8 +49,8 @@ Lcm1602::Lcm1602(int bus_in, int addr_in, bool isExpander,
                                  ": lcm1602_i2c_init failed");
 }
 
-Lcm1602::Lcm1602(uint8_t rs,  uint8_t enable, uint8_t d0,
+Lcm1602::Lcm1602(int rs,  int enable, int d0,
-                 uint8_t d1, uint8_t d2, uint8_t d3,
+                 int d1, int d2, int d3,
                  uint8_t numColumns, uint8_t numRows) :
     m_lcm1602(lcm1602_gpio_init(rs, enable, d0, d1, d2, d3, numColumns,
                                 numRows))

src/lcm1602/lcm1602.hpp

@@ -99,8 +99,8 @@ namespace upm
          * @param numColumns Number of columns the display has. Default 16.
          * @param numRows Number of rows the display has. Default 2.
          */
-        Lcm1602(uint8_t rs,  uint8_t enable,
+        Lcm1602(int rs,  int enable,
-                uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
+                int d0, int d1, int d2, int d3,
                 uint8_t numColumns = 16, uint8_t numRows = 2);
 
         /**

src/lpd8806/lpd8806.cxx

@@ -32,7 +32,7 @@
 
 using namespace upm;
 
-LPD8806::LPD8806 (uint16_t pixelCount, uint8_t csn) :m_spi(0), m_csnPinCtx(csn) {
+LPD8806::LPD8806 (uint16_t pixelCount, int csn) :m_spi(0), m_csnPinCtx(csn) {
     mraa::Result error = mraa::SUCCESS;
     m_name = "LPD8806";
 

src/lpd8806/lpd8806.hpp

@@ -65,7 +65,7 @@ class LPD8806 {
          * @param pixelCount Number of pixels in the strip
          * @param csn Chip select pin
          */
-        LPD8806 (uint16_t pixelCount, uint8_t csn);
+        LPD8806 (uint16_t pixelCount, int csn);
 
         /**
          * LPD8806 object destructor; basically, it frees the allocated

src/mb704x/CMakeLists.txt

@@ -0,0 +1,9 @@
+upm_mixed_module_init (NAME mb704x
+    DESCRIPTION "MB7040/7047 I2C MaxSonar WR Ultrasonic Ranger"
+    C_HDR mb704x.h
+    C_SRC mb704x.c
+    CPP_HDR mb704x.hpp
+    CPP_SRC mb704x.cxx
+    FTI_SRC mb704x_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/mb704x/javaupm_mb704x.i

@@ -0,0 +1,21 @@
+%module javaupm_mb704x
+%include "../upm.i"
+%include "std_string.i"
+%include "stdint.i"
+%include "typemaps.i"
+
+%include "mb704x.hpp"
+%{
+    #include "mb704x.hpp"
+%}
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_mb704x");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/mb704x/jsupm_mb704x.i

@@ -0,0 +1,8 @@
+%module jsupm_mb704x
+%include "../upm.i"
+%include "std_string.i"
+
+%include "mb704x.hpp"
+%{
+    #include "mb704x.hpp"
+%}

src/mb704x/mb704x.c

@@ -0,0 +1,115 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+#include <upm_utilities.h>
+
+#include "mb704x.h"
+
+// The delay to wait (in ms) for a ranging command to complete before
+// requesting the range data.
+#define MB704X_RANGE_DELAY     (100)
+
+// range command
+#define MB704X_CMD_RANGE       (81)
+
+mb704x_context mb704x_init(unsigned int bus, int addr)
+{
+    // make sure MRAA is initialized
+    int mraa_rv;
+    if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
+    {
+        printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
+        return NULL;
+    }
+
+    mb704x_context dev =
+        (mb704x_context)malloc(sizeof(struct _mb704x_context));
+
+    if (!dev)
+        return NULL;
+
+    // zero out context
+    memset((void *)dev, 0, sizeof(struct _mb704x_context));
+
+    // initialize the MRAA contexts
+
+    if (!(dev->i2c = mraa_i2c_init(bus)))
+    {
+        printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
+        mb704x_close(dev);
+        return NULL;
+    }
+
+    if (mraa_i2c_address(dev->i2c, (uint8_t)addr))
+    {
+        printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
+        mb704x_close(dev);
+        return NULL;
+    }
+
+    // max power up delay
+    upm_delay_ms(135);
+
+    return dev;
+}
+
+void mb704x_close(mb704x_context dev)
+{
+    assert(dev != NULL);
+
+    if (dev->i2c)
+        mraa_i2c_stop(dev->i2c);
+
+    free(dev);
+}
+
+int mb704x_get_range(const mb704x_context dev)
+{
+    assert(dev != NULL);
+
+    // first, send the range command.
+    uint8_t cmd = MB704X_CMD_RANGE;
+    if (mraa_i2c_write(dev->i2c, &cmd, 1))
+    {
+        printf("%s: mraa_i2c_write() failed.\n", __FUNCTION__);
+        return -1;
+    }
+
+    // delay for measurement
+    upm_delay_ms(MB704X_RANGE_DELAY);
+
+    // At this point, we should be able to do our read of the data
+    uint8_t buffer[2];
+    if (mraa_i2c_read(dev->i2c, buffer, 2) != 2)
+    {
+        printf("%s: mraa_i2c_read() failed.\n", __FUNCTION__);
+        return -1;
+    }
+
+    return ((buffer[0] << 8) | buffer[1]);
+}

src/mb704x/mb704x.cxx

@@ -0,0 +1,49 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <stdexcept>
+
+#include "mb704x.hpp"
+
+using namespace upm;
+using namespace std;
+
+MB704X::MB704X(unsigned int bus, unsigned int addr) :
+    m_mb704x(mb704x_init(bus, addr))
+{
+    if (!m_mb704x)
+        throw std::runtime_error(string(__FUNCTION__)
+                                 + ": mb704x_*_init() failed");
+}
+
+MB704X::~MB704X()
+{
+    mb704x_close(m_mb704x);
+}
+
+int MB704X::getRange()
+{
+    return mb704x_get_range(m_mb704x);
+}

src/mb704x/mb704x.h

@@ -0,0 +1,78 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <stdint.h>
+#include <upm.h>
+#include <mraa/i2c.h>
+#include <mraa/gpio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /**
+     * @file mb704x.h
+     * @library mb704x
+     * @brief C API for the MB704x MaxSonar-WR Ultrasonic Ranger
+     *
+     * @include mb704x.c
+     */
+
+    /**
+     * Device context
+     */
+    typedef struct _mb704x_context {
+        mraa_i2c_context         i2c;
+    } *mb704x_context;
+
+    /**
+     * MB704X Initializer
+     *
+     * @param bus Specify which the I2C bus to use.
+     * @param addr Specify the I2C address to use.  The default is 112.
+     * @return an initialized device context on success, NULL on error.
+     */
+    mb704x_context mb704x_init(unsigned int bus, int addr);
+
+    /**
+     * MB704X sensor close function
+     */
+    void mb704x_close(mb704x_context dev);
+
+    /**
+     * Query the device for a range reading.  The range will be
+     * reported in centimeters (cm).
+     *
+     * @param dev Device context
+     * @return Measured range, -1 on error. The range is reported in
+     * centimeters (cm).
+     */
+    int mb704x_get_range(const mb704x_context dev);
+
+
+#ifdef __cplusplus
+}
+#endif

src/mb704x/mb704x.hpp

@@ -0,0 +1,94 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 <iostream>
+
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "mb704x.h"
+
+namespace upm {
+    /**
+     * @brief API for the MB704x MaxSonar-WR Ultrasonic Ranger
+     * @defgroup mb704x libupm-mb704x
+     * @ingroup i2c sound
+     */
+
+    /**
+     * @library mb704x
+     * @sensor mb704x
+     * @comname MB704x MaxSonar-WR Ultrasonic Ranger
+     * @altname MB7040 MB7047 MB7247
+     * @type sound
+     * @man maxbotix
+     * @con i2c
+     * @web http://www.maxbotix.com/Ultrasonic_Sensors/I2C_Distance_Sensors.htm
+     *
+     * @brief API for the MB704x MaxSonar-WR Ultrasonic Ranger
+     *
+     * This driver was tested with the MB704x MaxSonar-WR Ultrasonic
+     * Ranger using the long distance, weather resistant horn.
+     * Depending on your sensor type and horn, tanges from 20cm to
+     * 750cm are possible.
+     *
+     * @snippet mb704x.cxx Interesting
+     */
+
+    class MB704X {
+    public:
+
+        /**
+         * Initialize a device context.
+         *
+         * @param bus Specify which the I2C bus to use.  The default is 0.
+         * @param addr Specify the I2C address to use.  The default is 112.
+         */
+        MB704X(unsigned int bus=0, unsigned int addr=112);
+
+        /**
+         * MB704X object destructor
+         */
+        ~MB704X();
+
+        /**
+         * Query the device for a range reading.  The range will be
+         * reported in centimeters (cm).
+         *
+         * @param dev Device context
+         * @return Measured range, -1 on error. The range is reported in
+         * centimeters (cm).
+         */
+        int getRange();
+
+
+    protected:
+        // mb704x device context
+        mb704x_context m_mb704x;
+
+    private:
+    };
+}

src/mb704x/mb704x_fti.c

@@ -0,0 +1,113 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 "mb704x.h"
+#include "upm_fti.h"
+
+/**
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_mb704x_name[] = "MB704X";
+const char upm_mb704x_description[] = "MB704x MaxSonar-WR Ultrasonic Ranger";
+const upm_protocol_t upm_mb704x_protocol[] = {UPM_I2C};
+const upm_sensor_t upm_mb704x_category[] = {UPM_DISTANCE};
+
+// forward declarations
+const void* upm_mb704x_get_ft(upm_sensor_t sensor_type);
+void* upm_mb704x_init_name();
+void upm_mb704x_close(void *dev);
+upm_result_t upm_mb704x_get_distance(void *dev, float *value,
+                                     upm_distance_u unit);
+
+const upm_sensor_descriptor_t upm_es08a_get_descriptor()
+{
+    upm_sensor_descriptor_t usd;
+
+    usd.name = upm_mb704x_name;
+    usd.description = upm_mb704x_description;
+    usd.protocol_size = 1;
+    usd.protocol = upm_mb704x_protocol;
+    usd.category_size = 1;
+    usd.category = upm_mb704x_category;
+
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+  .upm_sensor_init_name = &upm_mb704x_init_name,
+  .upm_sensor_close = &upm_mb704x_close,
+};
+
+static const upm_distance_ft dft =
+{
+  .upm_distance_get_value = upm_mb704x_get_distance
+};
+
+const void* upm_mb704x_get_ft(upm_sensor_t sensor_type)
+{
+  switch(sensor_type)
+    {
+    case UPM_SENSOR:
+      return &ft;
+
+    case UPM_DISTANCE:
+      return &dft;
+
+    default:
+      return NULL;
+    }
+}
+
+void *upm_mb704x_init_name()
+{
+  return NULL;
+}
+
+void upm_mb704x_close(void *dev)
+{
+  mb704x_close((mb704x_context)dev);
+}
+
+upm_result_t upm_mb704x_get_distance(void *dev, float *value,
+                                     upm_distance_u unit)
+{
+    int rv;
+
+    if ((rv = mb704x_get_range((mb704x_context)dev)) < 0)
+        return UPM_ERROR_OPERATION_FAILED;
+
+    switch(unit)
+    {
+    case CENTIMETER:
+        *value = (float)rv;
+    case INCH:
+        *value = ((float)rv * 0.393701);
+    default:
+        return UPM_ERROR_INVALID_PARAMETER;
+    }
+
+    return UPM_SUCCESS;
+}

src/mb704x/pyupm_mb704x.i

@@ -0,0 +1,12 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_mb704x
+%include "../upm.i"
+%include "std_string.i"
+
+%feature("autodoc", "3");
+
+%include "mb704x.hpp"
+%{
+    #include "mb704x.hpp"
+%}

src/my9221/grovecircularled.cxx

@@ -44,7 +44,7 @@
 using namespace upm;
 using namespace std;
 
-GroveCircularLED::GroveCircularLED (uint8_t dataPin, uint8_t clockPin)
+GroveCircularLED::GroveCircularLED (int dataPin, int clockPin)
     : MY9221(dataPin, clockPin, 2)
 {
     // auto refresh by default

src/my9221/grovecircularled.hpp

@@ -67,7 +67,7 @@ namespace upm {
      * @param dataPin Data pin
      * @param clockPin Clock pin
      */
-    GroveCircularLED(uint8_t dataPin, uint8_t clockPin);
+    GroveCircularLED(int dataPin, int clockPin);
 
     /**
      * GroveCircularLED destructor

src/my9221/groveledbar.cxx

@@ -44,7 +44,7 @@
 using namespace upm;
 using namespace std;
 
-GroveLEDBar::GroveLEDBar (uint8_t dataPin, uint8_t clockPin, int instances)
+GroveLEDBar::GroveLEDBar (int dataPin, int clockPin, int instances)
     : MY9221(dataPin, clockPin, instances)
 {
     // auto refresh by default

src/my9221/groveledbar.hpp

@@ -73,7 +73,7 @@ namespace upm {
      * @param clockPin Clock pin
      * @param instances Number of daisy-chained Grove LED Bars, default 1
      */
-    GroveLEDBar(uint8_t dataPin, uint8_t clockPin, int instances=1);
+    GroveLEDBar(int dataPin, int clockPin, int instances=1);
 
     /**
      * GroveLEDBar destructor

src/my9221/my9221.cxx

@@ -44,7 +44,7 @@
 using namespace upm;
 using namespace std;
 
-MY9221::MY9221 (uint8_t dataPin, uint8_t clockPin, int instances) :
+MY9221::MY9221 (int dataPin, int clockPin, int instances) :
     m_my9221(my9221_init(dataPin, clockPin, instances))
 {
     if (!m_my9221)

src/my9221/my9221.hpp

@@ -54,7 +54,7 @@ namespace upm {
          * @param clockPin Clock pin
          * @param instances Number of daisy-chained my9221s, default 1
          */
-        MY9221(uint8_t dataPin, uint8_t clockPin, int instances=1);
+        MY9221(int dataPin, int clockPin, int instances=1);
 
         /**
          * MY9221 destructor

src/nrf24l01/nrf24l01.cxx

@@ -34,14 +34,14 @@
 using namespace upm;
 
 
-NRF24L01::NRF24L01 (uint8_t cs, uint8_t ce)
+NRF24L01::NRF24L01 (int cs, int ce)
                             :m_spi(0), m_csnPinCtx(cs), m_cePinCtx(ce)
 {
     init (cs, ce);
 }
 
 void
-NRF24L01::init (uint8_t chip_select, uint8_t chip_enable) {
+NRF24L01::init (int chip_select, int chip_enable) {
     mraa::Result error = mraa::SUCCESS;
 
     m_csn       = chip_select;

src/nrf24l01/nrf24l01.hpp

@@ -192,7 +192,7 @@ class NRF24L01 {
          *
          * @param cs Chip select pin
          */
-        NRF24L01 (uint8_t cs, uint8_t ce);
+        NRF24L01 (int cs, int ce);
 
         /**
          * Returns the name of the component
@@ -208,7 +208,7 @@ class NRF24L01 {
          * @param chipSelect Sets up the chip select pin
          * @param chipEnable Sets up the chip enable pin
          */
-        void    init (uint8_t chipSelect, uint8_t chipEnable);
+        void    init (int chipSelect, int chipEnable);
 
         /**
          * Configures the NRF24L01 transceiver

src/rf22/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "rf22")
+set (libdescription "HopeRF RFM22B ISM Band Radio Module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/rf22/javaupm_rf22.i

@@ -0,0 +1,24 @@
+%module(directors="1") javaupm_rf22
+%include "../upm.i"
+%include "arrays_java.i"
+%include "typemaps.i"
+
+%apply uint8_t *INOUT { uint8_t* len };
+%apply signed char[] {uint8_t*};
+
+%{
+    #include "rf22.hpp"
+%}
+
+%include "rf22.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_rf22");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/rf22/jsupm_rf22.i

@@ -0,0 +1,9 @@
+%module jsupm_rf22
+%include "../upm.i"
+%include "../carrays_uint8_t.i"
+
+%{
+    #include "rf22.hpp"
+%}
+
+%include "rf22.hpp"

src/rf22/pyupm_rf22.i

@@ -0,0 +1,12 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_rf22
+%include "../upm.i"
+%include "../carrays_uint8_t.i"
+
+%feature("autodoc", "3");
+
+%include "rf22.hpp"
+%{
+    #include "rf22.hpp"
+%}

src/rf22/rf22.cxx

@@ -0,0 +1,766 @@
+/*
+ * Author: Kiveisha Yevgeniy
+ * Copyright (c) 2015-2016 Intel Corporation
+ *
+ * Author: Mike McCauley
+ * Copyright (c) 2011 Mike McCauley
+ *
+ * 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 <cstring>
+#include <cmath>
+#include <sys/time.h>
+#include <rf22.hpp>
+
+using namespace upm;
+
+// These are indexed by the values of ModemConfigChoice
+// Canned modem configurations generated with 
+// http://www.hoperf.com/upload/rf/RF22B%2023B%2031B%2042B%2043B%20Register%20Settings_RevB1-v5.xls
+// Stored in flash (program) memory to save SRAM
+static const RF22::ModemConfig MODEM_CONFIG_TABLE[] =
+{
+    { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x00, 0x08 }, // Unmodulated carrier
+    { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x33, 0x08 }, // FSK, PN9 random modulation, 2, 5
+
+    // All the following enable FIFO with reg 71
+    //  1c,   1f,   20,   21,   22,   23,   24,   25,   2c,   2d,   2e,   58,   69,   6e,   6f,   70,   71,   72
+    // FSK, No Manchester, Max Rb err <1%, Xtal Tol 20ppm
+    { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x22, 0x08 }, // 2, 5
+    { 0x1b, 0x03, 0x41, 0x60, 0x27, 0x52, 0x00, 0x07, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x22, 0x3a }, // 2.4, 36
+    { 0x1d, 0x03, 0xa1, 0x20, 0x4e, 0xa5, 0x00, 0x13, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x27, 0x52, 0x2c, 0x22, 0x48 }, // 4.8, 45
+    { 0x1e, 0x03, 0xd0, 0x00, 0x9d, 0x49, 0x00, 0x45, 0x40, 0x0a, 0x20, 0x80, 0x60, 0x4e, 0xa5, 0x2c, 0x22, 0x48 }, // 9.6, 45
+    { 0x2b, 0x03, 0x34, 0x02, 0x75, 0x25, 0x07, 0xff, 0x40, 0x0a, 0x1b, 0x80, 0x60, 0x9d, 0x49, 0x2c, 0x22, 0x0f }, // 19.2, 9.6
+    { 0x02, 0x03, 0x68, 0x01, 0x3a, 0x93, 0x04, 0xd5, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x09, 0xd5, 0x0c, 0x22, 0x1f }, // 38.4, 19.6
+    { 0x06, 0x03, 0x45, 0x01, 0xd7, 0xdc, 0x07, 0x6e, 0x40, 0x0a, 0x2d, 0x80, 0x60, 0x0e, 0xbf, 0x0c, 0x22, 0x2e }, // 57.6. 28.8
+    { 0x8a, 0x03, 0x60, 0x01, 0x55, 0x55, 0x02, 0xad, 0x40, 0x0a, 0x50, 0x80, 0x60, 0x20, 0x00, 0x0c, 0x22, 0xc8 }, // 125, 125
+
+    // GFSK, No Manchester, Max Rb err <1%, Xtal Tol 20ppm
+    // These differ from FSK only in register 71, for the modulation type
+    { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x23, 0x08 }, // 2, 5
+    { 0x1b, 0x03, 0x41, 0x60, 0x27, 0x52, 0x00, 0x07, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x23, 0x3a }, // 2.4, 36
+    { 0x1d, 0x03, 0xa1, 0x20, 0x4e, 0xa5, 0x00, 0x13, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x27, 0x52, 0x2c, 0x23, 0x48 }, // 4.8, 45
+    { 0x1e, 0x03, 0xd0, 0x00, 0x9d, 0x49, 0x00, 0x45, 0x40, 0x0a, 0x20, 0x80, 0x60, 0x4e, 0xa5, 0x2c, 0x23, 0x48 }, // 9.6, 45
+    { 0x2b, 0x03, 0x34, 0x02, 0x75, 0x25, 0x07, 0xff, 0x40, 0x0a, 0x1b, 0x80, 0x60, 0x9d, 0x49, 0x2c, 0x23, 0x0f }, // 19.2, 9.6
+    { 0x02, 0x03, 0x68, 0x01, 0x3a, 0x93, 0x04, 0xd5, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x09, 0xd5, 0x0c, 0x23, 0x1f }, // 38.4, 19.6
+    { 0x06, 0x03, 0x45, 0x01, 0xd7, 0xdc, 0x07, 0x6e, 0x40, 0x0a, 0x2d, 0x80, 0x60, 0x0e, 0xbf, 0x0c, 0x23, 0x2e }, // 57.6. 28.8
+    { 0x8a, 0x03, 0x60, 0x01, 0x55, 0x55, 0x02, 0xad, 0x40, 0x0a, 0x50, 0x80, 0x60, 0x20, 0x00, 0x0c, 0x23, 0xc8 }, // 125, 125
+
+    // OOK, No Manchester, Max Rb err <1%, Xtal Tol 20ppm
+    { 0x51, 0x03, 0x68, 0x00, 0x3a, 0x93, 0x01, 0x3d, 0x2c, 0x11, 0x28, 0x80, 0x60, 0x09, 0xd5, 0x2c, 0x21, 0x08 }, // 1.2, 75
+    { 0xc8, 0x03, 0x39, 0x20, 0x68, 0xdc, 0x00, 0x6b, 0x2a, 0x08, 0x2a, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x21, 0x08 }, // 2.4, 335
+    { 0xc8, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x29, 0x04, 0x29, 0x80, 0x60, 0x27, 0x52, 0x2c, 0x21, 0x08 }, // 4.8, 335
+    { 0xb8, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x28, 0x82, 0x29, 0x80, 0x60, 0x4e, 0xa5, 0x2c, 0x21, 0x08 }, // 9.6, 335
+    { 0xa8, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x28, 0x41, 0x29, 0x80, 0x60, 0x9d, 0x49, 0x2c, 0x21, 0x08 }, // 19.2, 335
+    { 0x98, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x28, 0x20, 0x29, 0x80, 0x60, 0x09, 0xd5, 0x0c, 0x21, 0x08 }, // 38.4, 335
+    { 0x98, 0x03, 0x96, 0x00, 0xda, 0x74, 0x00, 0xdc, 0x28, 0x1f, 0x29, 0x80, 0x60, 0x0a, 0x3d, 0x0c, 0x21, 0x08 }, // 40, 335
+
+};
+
+RF22::RF22(int spiBus, int slaveSelectPin, int interruptPin)
+{
+    _idleMode = RF22_XTON; // Default idle state is READY mode
+    _mode = RF22_MODE_IDLE; // We start up in idle mode
+    _rxGood = 0;
+    _rxBad = 0;
+    _txGood = 0;
+    
+    //Initialize the SPI bus and pins, MRAA will log any failures here
+    // start the SPI library:
+    // Note the RF22 wants mode 0, MSB first and default to 1 Mbps
+    _spi = mraa_spi_init(spiBus);
+    mraa_spi_mode (_spi, MRAA_SPI_MODE0);
+    mraa_spi_lsbmode(_spi, 0);
+    mraa_spi_frequency(_spi, 1000000); // 1Mhz
+
+    _cs = mraa_gpio_init(slaveSelectPin);
+    mraa_gpio_dir(_cs, MRAA_GPIO_OUT);    
+    
+    _irq = mraa_gpio_init(interruptPin);
+    mraa_gpio_dir(_irq, MRAA_GPIO_IN);
+    mraa_gpio_isr(_irq, MRAA_GPIO_EDGE_FALLING, &isr, (void*)this);
+}
+
+RF22::~RF22()
+{
+    mraa_spi_stop(_spi);
+    mraa_gpio_close(_cs);
+    mraa_gpio_close(_irq);
+}
+
+uint8_t RF22::init()
+{
+    // Wait for RF22 POR (up to 16msec)
+    usleep (16);
+
+    // Initialise the slave select pin    
+    mraa_gpio_write(_cs, 0x1);
+
+    usleep (100);
+    
+    // Software reset the device
+    reset();
+
+    // Get the device type and check it
+    // This also tests whether we are really connected to a device
+    _deviceType = spiRead(RF22_REG_00_DEVICE_TYPE);
+    if (   _deviceType != RF22_DEVICE_TYPE_RX_TRX
+        && _deviceType != RF22_DEVICE_TYPE_TX)
+    return 0;
+
+    clearTxBuf();
+    clearRxBuf();
+  
+    // Most of these are the POR default
+    spiWrite(RF22_REG_7D_TX_FIFO_CONTROL2, RF22_TXFFAEM_THRESHOLD);
+    spiWrite(RF22_REG_7E_RX_FIFO_CONTROL,  RF22_RXFFAFULL_THRESHOLD);
+    spiWrite(RF22_REG_30_DATA_ACCESS_CONTROL, RF22_ENPACRX | RF22_ENPACTX | RF22_ENCRC | RF22_CRC_CRC_16_IBM);
+    // Configure the message headers
+    // Here we set up the standard packet format for use by the RF22 library
+    // 8 nibbles preamble
+    // 2 SYNC words 2d, d4
+    // Header length 4 (to, from, id, flags)
+    // 1 octet of data length (0 to 255)
+    // 0 to 255 octets data
+    // 2 CRC octets as CRC16(IBM), computed on the header, length and data
+    // On reception the to address is check for validity against RF22_REG_3F_CHECK_HEADER3
+    // or the broadcast address of 0xff
+    // If no changes are made after this, the transmitted
+    // to address will be 0xff, the from address will be 0xff
+    // and all such messages will be accepted. This permits the out-of the box
+    // RF22 config to act as an unaddresed, unreliable datagram service
+    spiWrite(RF22_REG_32_HEADER_CONTROL1, RF22_BCEN_HEADER3 | RF22_HDCH_HEADER3);
+    spiWrite(RF22_REG_33_HEADER_CONTROL2, RF22_HDLEN_4 | RF22_SYNCLEN_2);
+    setPreambleLength(8);
+    uint8_t syncwords[] = { 0x2d, 0xd4 };
+    setSyncWords(syncwords, sizeof(syncwords));
+    setPromiscuous(0); 
+    // Check the TO header against RF22_DEFAULT_NODE_ADDRESS
+    spiWrite(RF22_REG_3F_CHECK_HEADER3, RF22_DEFAULT_NODE_ADDRESS);
+    // Set the default transmit header values
+    setHeaderTo(RF22_DEFAULT_NODE_ADDRESS);
+    setHeaderFrom(RF22_DEFAULT_NODE_ADDRESS);
+    setHeaderId(0);
+    setHeaderFlags(0);
+
+    // Ensure the antenna can be switched automatically according to transmit and receive
+    // This assumes GPIO0(out) is connected to TX_ANT(in) to enable tx antenna during transmit
+    // This assumes GPIO1(out) is connected to RX_ANT(in) to enable rx antenna during receive
+    spiWrite (RF22_REG_0B_GPIO_CONFIGURATION0, 0x12) ; // TX state
+    spiWrite (RF22_REG_0C_GPIO_CONFIGURATION1, 0x15) ; // RX state
+
+    // Enable interrupts
+    spiWrite(RF22_REG_05_INTERRUPT_ENABLE1, RF22_ENTXFFAEM | RF22_ENRXFFAFULL | RF22_ENPKSENT | RF22_ENPKVALID | RF22_ENCRCERROR | RF22_ENFFERR);
+    spiWrite(RF22_REG_06_INTERRUPT_ENABLE2, RF22_ENPREAVAL);
+
+    // Set some defaults. An innocuous ISM frequency, and reasonable pull-in
+    setFrequency(434.0, 0.05);
+//    setFrequency(900.0);
+    // Some slow, reliable default speed and modulation
+    setModemConfig(FSK_Rb2_4Fd36);
+//    setModemConfig(FSK_Rb125Fd125);
+    // Minimum power
+    setTxPower(RF22_TXPOW_8DBM);
+//    setTxPower(RF22_TXPOW_17DBM);
+
+    return 1;
+}
+
+// C++ level interrupt handler for this instance
+void RF22::handleInterrupt()
+{
+    uint8_t _lastInterruptFlags[2];
+    // Read the interrupt flags which clears the interrupt
+    spiBurstRead(RF22_REG_03_INTERRUPT_STATUS1, _lastInterruptFlags, 2);
+
+    if (_lastInterruptFlags[0] & RF22_IFFERROR)
+    { 
+        resetFifos(); // Clears the interrupt
+        if (_mode == RF22_MODE_TX)
+            restartTransmit();
+        else if (_mode == RF22_MODE_RX)
+            clearRxBuf();
+    }
+    // Caution, any delay here may cause a FF underflow or overflow
+    if (_lastInterruptFlags[0] & RF22_ITXFFAEM)
+    {
+        // See if more data has to be loaded into the Tx FIFO 
+        sendNextFragment();
+    }
+    if (_lastInterruptFlags[0] & RF22_IRXFFAFULL)
+    {
+        // Caution, any delay here may cause a FF overflow
+        // Read some data from the Rx FIFO
+        readNextFragment(); 
+    }
+    if (_lastInterruptFlags[0] & RF22_IEXT)
+    {
+        // This is not enabled by the base code, but users may want to enable it
+        handleExternalInterrupt();
+    }
+    if (_lastInterruptFlags[1] & RF22_IWUT)
+    {
+        // This is not enabled by the base code, but users may want to enable it
+        handleWakeupTimerInterrupt();
+    }
+    if (_lastInterruptFlags[0] & RF22_IPKSENT)
+    {
+        _txGood++; 
+        // Transmission does not automatically clear the tx buffer.
+        // Could retransmit if we wanted
+        // RF22 transitions automatically to Idle
+        _mode = RF22_MODE_IDLE;
+    }
+    if (_lastInterruptFlags[0] & RF22_IPKVALID)
+    {
+        uint8_t len = spiRead(RF22_REG_4B_RECEIVED_PACKET_LENGTH);
+
+        // May have already read one or more fragments
+        // Get any remaining unread octets, based on the expected length
+        // First make sure we dont overflow the buffer in the case of a stupid length
+        // or partial bad receives
+        if (   len >  RF22_MAX_MESSAGE_LEN
+            || len < _bufLen)
+        {
+            _rxBad++;
+            _mode = RF22_MODE_IDLE;
+            clearRxBuf();
+            return; // Hmmm receiver buffer overflow. 
+        }
+
+        spiBurstRead(RF22_REG_7F_FIFO_ACCESS, _buf + _bufLen, len - _bufLen);
+        _rxGood++;
+        _bufLen = len;
+        _mode = RF22_MODE_IDLE;
+        _rxBufValid = true;
+    }
+    if (_lastInterruptFlags[0] & RF22_ICRCERROR)
+    {
+        _rxBad++;
+        clearRxBuf();
+        resetRxFifo();
+        _mode = RF22_MODE_IDLE;
+        setModeRx(); // Keep trying
+    }
+    if (_lastInterruptFlags[1] & RF22_IPREAVAL)
+    {
+        _lastRssi = spiRead(RF22_REG_26_RSSI);
+        clearRxBuf();
+    }
+}
+
+void RF22::isr(void* args)
+{
+    RF22* This = (RF22*)(args);
+    This->handleInterrupt();
+}
+
+void RF22::reset()
+{
+    spiWrite(RF22_REG_07_OPERATING_MODE1, RF22_SWRES);
+    // Wait for it to settle
+    usleep(100); // SWReset time is nominally 100usec
+}
+
+uint8_t RF22::spiRead(uint8_t reg)
+{
+    uint8_t data;
+    spiBurstRead (reg, &data, 1);
+    return data;
+}
+
+void RF22::spiWrite(uint8_t reg, uint8_t val)
+{
+    spiBurstWrite (reg, &val, 1);
+}
+
+void RF22::spiBurstRead(uint8_t reg, uint8_t* dest, uint8_t len)
+{
+    uint8_t *request;
+    uint8_t *response;
+    
+    request =  (uint8_t *) malloc(sizeof(uint8_t) * (len + 1));
+    response = (uint8_t *) malloc(sizeof(uint8_t) * (len + 1));
+    memset(request,  0x00, len + 1);
+    memset(response, 0x00, len + 1);
+    
+    request[0] = reg & ~RF22_SPI_WRITE_MASK;
+    memcpy (&request[1], dest, len);
+    
+    mraa_gpio_write(_cs, 0x1);
+    mraa_gpio_write(_cs, 0x0);
+    usleep(100);
+    mraa_spi_transfer_buf(_spi, request, response, len + 1);
+    usleep(100);
+    mraa_gpio_write(_cs, 0x1);
+    
+    memcpy (dest, &response[1], len);
+    
+    free (request);
+    free (response);
+}
+
+void RF22::spiBurstWrite(uint8_t reg, const uint8_t* src, uint8_t len)
+{
+    uint8_t *request;
+    uint8_t *response;
+    
+    request =  (uint8_t *) malloc(sizeof(uint8_t) * (len + 1));
+    response = (uint8_t *) malloc(sizeof(uint8_t) * (len + 1));
+    memset(request,  0x00, len + 1);
+    memset(response, 0x00, len + 1);
+    
+    request[0] = reg | RF22_SPI_WRITE_MASK;
+    memcpy (&request[1], src, len);
+    
+    mraa_gpio_write(_cs, 0x1);
+    mraa_gpio_write(_cs, 0x0);
+    usleep(100);
+    mraa_spi_transfer_buf(_spi, request, response, len + 1);
+    usleep(100);
+    mraa_gpio_write(_cs, 0x1);
+    
+    free (request);
+    free (response);
+}
+
+uint8_t RF22::statusRead()
+{
+    return spiRead(RF22_REG_02_DEVICE_STATUS);
+}
+
+uint8_t RF22::adcRead(uint8_t adcsel,
+                      uint8_t adcref ,
+                      uint8_t adcgain, 
+                      uint8_t adcoffs)
+{
+    uint8_t configuration = adcsel | adcref | (adcgain & RF22_ADCGAIN);
+    spiWrite(RF22_REG_0F_ADC_CONFIGURATION, configuration | RF22_ADCSTART);
+    spiWrite(RF22_REG_10_ADC_SENSOR_AMP_OFFSET, adcoffs);
+
+    // Conversion time is nominally 305usec
+    // Wait for the DONE bit
+    while (!(spiRead(RF22_REG_0F_ADC_CONFIGURATION) & RF22_ADCDONE))
+    ;
+    // Return the value  
+    return spiRead(RF22_REG_11_ADC_VALUE);
+}
+
+uint8_t RF22::temperatureRead(uint8_t tsrange, uint8_t tvoffs)
+{
+    spiWrite(RF22_REG_12_TEMPERATURE_SENSOR_CALIBRATION, tsrange | RF22_ENTSOFFS);
+    spiWrite(RF22_REG_13_TEMPERATURE_VALUE_OFFSET, tvoffs);
+    return adcRead(RF22_ADCSEL_INTERNAL_TEMPERATURE_SENSOR | RF22_ADCREF_BANDGAP_VOLTAGE); 
+}
+
+uint16_t RF22::wutRead()
+{
+    uint8_t buf[2];
+    spiBurstRead(RF22_REG_17_WAKEUP_TIMER_VALUE1, buf, 2);
+    return ((uint16_t)buf[0] << 8) | buf[1]; // Dont rely on byte order
+}
+
+// RFM-22 doc appears to be wrong: WUT for wtm = 10000, r, = 0, d = 0 is about 1 sec
+void RF22::setWutPeriod(uint16_t wtm, uint8_t wtr, uint8_t wtd)
+{
+    uint8_t period[3];
+
+    period[0] = ((wtr & 0xf) << 2) | (wtd & 0x3);
+    period[1] = wtm >> 8;
+    period[2] = wtm & 0xff;
+    spiBurstWrite(RF22_REG_14_WAKEUP_TIMER_PERIOD1, period, sizeof(period));
+}
+
+// Returns true if center + (fhch * fhs) is within limits
+// Caution, different versions of the RF22 support different max freq
+// so YMMV
+uint8_t RF22::setFrequency(float center, float afcPullInRange)
+{
+    uint8_t fbsel = RF22_SBSEL;
+    uint8_t afclimiter;
+    if (center < 240.0 || center > 960.0) // 930.0 for early silicon
+    return false;
+    if (center >= 480.0)
+    {
+        if (afcPullInRange < 0.0 || afcPullInRange > 0.318750)
+            return false;
+        center /= 2;
+        fbsel |= RF22_HBSEL;
+        afclimiter = afcPullInRange * 1000000.0 / 1250.0;
+    }
+    else
+    {
+        if (afcPullInRange < 0.0 || afcPullInRange > 0.159375)
+            return false;
+        afclimiter = afcPullInRange * 1000000.0 / 625.0;
+    }
+    center /= 10.0;
+    float integerPart = floor(center);
+    float fractionalPart = center - integerPart;
+
+    uint8_t fb = (uint8_t)integerPart - 24; // Range 0 to 23
+    fbsel |= fb;
+    uint16_t fc = fractionalPart * 64000;
+    spiWrite(RF22_REG_73_FREQUENCY_OFFSET1, 0);  // REVISIT
+    spiWrite(RF22_REG_74_FREQUENCY_OFFSET2, 0);
+    spiWrite(RF22_REG_75_FREQUENCY_BAND_SELECT, fbsel);
+    spiWrite(RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1, fc >> 8);
+    spiWrite(RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0, fc & 0xff);
+    spiWrite(RF22_REG_2A_AFC_LIMITER, afclimiter);
+    return !(statusRead() & RF22_FREQERR);
+}
+
+// Step size in 10kHz increments
+// Returns true if centre + (fhch * fhs) is within limits
+uint8_t RF22::setFHStepSize(uint8_t fhs)
+{
+    spiWrite(RF22_REG_7A_FREQUENCY_HOPPING_STEP_SIZE, fhs);
+    return !(statusRead() & RF22_FREQERR);
+}
+
+// Adds fhch * fhs to centre frequency
+// Returns true if centre + (fhch * fhs) is within limits
+uint8_t RF22::setFHChannel(uint8_t fhch)
+{
+    spiWrite(RF22_REG_79_FREQUENCY_HOPPING_CHANNEL_SELECT, fhch);
+    return !(statusRead() & RF22_FREQERR);
+}
+
+uint8_t RF22::rssiRead()
+{
+    return spiRead(RF22_REG_26_RSSI);
+}
+
+uint8_t RF22::ezmacStatusRead()
+{
+    return spiRead(RF22_REG_31_EZMAC_STATUS);
+}
+
+void RF22::setMode(uint8_t mode)
+{
+    spiWrite(RF22_REG_07_OPERATING_MODE1, mode);
+}
+
+void RF22::setModeIdle()
+{
+    if (_mode != RF22_MODE_IDLE)
+    {
+        setMode(_idleMode);
+        _mode = RF22_MODE_IDLE;
+    }
+}
+
+void RF22::setModeRx()
+{
+    if (_mode != RF22_MODE_RX)
+    {
+        setMode(_idleMode | RF22_RXON);
+        _mode = RF22_MODE_RX;
+    }
+}
+
+void RF22::setModeTx()
+{
+    if (_mode != RF22_MODE_TX)
+    {
+        setMode(_idleMode | RF22_TXON);
+        _mode = RF22_MODE_TX;
+        // Hmmm, if you dont clear the RX FIFO here, then it appears that going
+        // to transmit mode in the middle of a receive can corrupt the
+        // RX FIFO
+        resetRxFifo();
+        clearRxBuf();
+    }
+}
+
+uint8_t  RF22::mode()
+{
+    return _mode;
+}
+
+void RF22::setTxPower(uint8_t power)
+{
+    spiWrite(RF22_REG_6D_TX_POWER, power);
+}
+
+// Sets registers from a canned modem configuration structure
+void RF22::setModemRegisters(const ModemConfig* config)
+{
+    spiWrite(RF22_REG_1C_IF_FILTER_BANDWIDTH,                    config->reg_1c);
+    spiWrite(RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE,      config->reg_1f);
+    spiBurstWrite(RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE, &config->reg_20, 6);
+    spiBurstWrite(RF22_REG_2C_OOK_COUNTER_VALUE_1,              &config->reg_2c, 3);
+    spiWrite(RF22_REG_58_CHARGE_PUMP_CURRENT_TRIMMING,           config->reg_58);
+    spiWrite(RF22_REG_69_AGC_OVERRIDE1,                          config->reg_69);
+    spiBurstWrite(RF22_REG_6E_TX_DATA_RATE1,                    &config->reg_6e, 5);
+}
+
+// Set one of the canned FSK Modem configs
+// Returns true if its a valid choice
+uint8_t RF22::setModemConfig(ModemConfigChoice index)
+{
+    if (index > (sizeof(MODEM_CONFIG_TABLE) / sizeof(ModemConfig)))
+        return false;
+
+    RF22::ModemConfig cfg;
+    // memcpy_P(&cfg, &MODEM_CONFIG_TABLE[index], sizeof(RF22::ModemConfig)); // !!!!!!!!!!!!!!!!!!! MIGHT CAUSE ISSUES
+    memcpy(&cfg, &MODEM_CONFIG_TABLE[index], sizeof(RF22::ModemConfig));
+    setModemRegisters(&cfg);
+
+    return true;
+}
+
+// REVISIT: top bit is in Header Control 2 0x33
+void RF22::setPreambleLength(uint8_t nibbles)
+{
+    spiWrite(RF22_REG_34_PREAMBLE_LENGTH, nibbles);
+}
+
+// Caution doesnt set sync word len in Header Control 2 0x33
+void RF22::setSyncWords(const uint8_t* syncWords, uint8_t len)
+{
+    spiBurstWrite(RF22_REG_36_SYNC_WORD3, syncWords, len);
+}
+
+void RF22::clearRxBuf()
+{
+    _bufLen = 0;
+    _rxBufValid = false;
+}
+
+uint8_t RF22::available()
+{
+    if (!_rxBufValid)
+    setModeRx(); // Make sure we are receiving
+    return _rxBufValid;
+}
+
+// Blocks until a valid message is received
+void RF22::waitAvailable()
+{
+    while (!available())
+    ;
+}
+
+// Blocks until a valid message is received or timeout expires
+// Return true if there is a message available
+bool RF22::waitAvailableTimeout(unsigned long timeout)
+{
+    unsigned long endtime = getTimestamp() + timeout;
+    unsigned long currenttime = getTimestamp();
+    while (currenttime < endtime) {
+        currenttime = getTimestamp();
+        if (available()) {
+            return true;
+        }
+    }
+        
+    return false;
+}
+
+void RF22::waitPacketSent()
+{
+    while (_mode == RF22_MODE_TX)
+    ; // Wait for any previous transmit to finish
+}
+
+// Diagnostic help
+void RF22::printBuffer(const char* prompt, const uint8_t* buf, uint8_t len)
+{
+}
+
+uint8_t RF22::recv(uint8_t* buf, uint8_t* len)
+{
+    if (!available())
+        return false;
+
+    if (*len > _bufLen)
+        *len = _bufLen;
+    memcpy(buf, _buf, *len);
+    clearRxBuf();
+    return true;
+}
+
+void RF22::clearTxBuf()
+{
+    _bufLen = 0;
+    _txBufSentIndex = 0;
+}
+
+void RF22::startTransmit()
+{
+    sendNextFragment(); // Actually the first fragment
+    spiWrite(RF22_REG_3E_PACKET_LENGTH, _bufLen); // Total length that will be sent
+    setModeTx(); // Start the transmitter, turns off the receiver
+}
+
+// Restart the transmission of a packet that had a problem
+void RF22::restartTransmit()
+{
+    _mode = RF22_MODE_IDLE;
+    _txBufSentIndex = 0;
+    startTransmit();
+}
+
+uint8_t RF22::send(const uint8_t* data, uint8_t len)
+{
+    waitPacketSent();
+
+    if (!fillTxBuf(data, len))
+        return false;
+    startTransmit();
+
+    return true;
+}
+
+uint8_t RF22::fillTxBuf(const uint8_t* data, uint8_t len)
+{
+    clearTxBuf();
+    if (!len)
+    return false; 
+    return appendTxBuf(data, len);
+}
+
+uint8_t RF22::appendTxBuf(const uint8_t* data, uint8_t len)
+{
+    if (((uint16_t)_bufLen + len) > RF22_MAX_MESSAGE_LEN)
+    return false;
+
+    memcpy(_buf + _bufLen, data, len);
+    _bufLen += len;
+
+    return true;
+}
+
+// Assumption: there is currently <= RF22_TXFFAEM_THRESHOLD bytes in the Tx FIFO
+void RF22::sendNextFragment()
+{
+    if (_txBufSentIndex < _bufLen)
+    {
+    // Some left to send?
+    uint8_t len = _bufLen - _txBufSentIndex;
+    // But dont send too much
+    if (len > (RF22_FIFO_SIZE - RF22_TXFFAEM_THRESHOLD - 1))
+        len = (RF22_FIFO_SIZE - RF22_TXFFAEM_THRESHOLD - 1);
+    spiBurstWrite(RF22_REG_7F_FIFO_ACCESS, _buf + _txBufSentIndex, len);
+    _txBufSentIndex += len;
+    }
+}
+
+// Assumption: there are at least RF22_RXFFAFULL_THRESHOLD in the RX FIFO
+// That means it should only be called after a RXFFAFULL interrupt
+void RF22::readNextFragment()
+{
+    if (((uint16_t)_bufLen + RF22_RXFFAFULL_THRESHOLD) > RF22_MAX_MESSAGE_LEN)
+    return; // Hmmm receiver overflow. Should never occur
+
+    // Read the RF22_RXFFAFULL_THRESHOLD octets that should be there
+    spiBurstRead(RF22_REG_7F_FIFO_ACCESS, _buf + _bufLen, RF22_RXFFAFULL_THRESHOLD);
+    _bufLen += RF22_RXFFAFULL_THRESHOLD;
+}
+
+// Clear the FIFOs
+void RF22::resetFifos()
+{
+    spiWrite(RF22_REG_08_OPERATING_MODE2, RF22_FFCLRRX | RF22_FFCLRTX);
+    spiWrite(RF22_REG_08_OPERATING_MODE2, 0);
+}
+
+// Clear the Rx FIFO
+void RF22::resetRxFifo()
+{
+    spiWrite(RF22_REG_08_OPERATING_MODE2, RF22_FFCLRRX);
+    spiWrite(RF22_REG_08_OPERATING_MODE2, 0);
+}
+
+// CLear the TX FIFO
+void RF22::resetTxFifo()
+{
+    spiWrite(RF22_REG_08_OPERATING_MODE2, RF22_FFCLRTX);
+    spiWrite(RF22_REG_08_OPERATING_MODE2, 0);
+}
+
+// Default implmentation does nothing. Override if you wish
+void RF22::handleExternalInterrupt()
+{
+}
+
+// Default implmentation does nothing. Override if you wish
+void RF22::handleWakeupTimerInterrupt()
+{
+}
+
+void RF22::setHeaderTo(uint8_t to)
+{
+    spiWrite(RF22_REG_3A_TRANSMIT_HEADER3, to);
+}
+
+void RF22::setHeaderFrom(uint8_t from)
+{
+    spiWrite(RF22_REG_3B_TRANSMIT_HEADER2, from);
+}
+
+void RF22::setHeaderId(uint8_t id)
+{
+    spiWrite(RF22_REG_3C_TRANSMIT_HEADER1, id);
+}
+
+void RF22::setHeaderFlags(uint8_t flags)
+{
+    spiWrite(RF22_REG_3D_TRANSMIT_HEADER0, flags);
+}
+
+uint8_t RF22::headerTo()
+{
+    return spiRead(RF22_REG_47_RECEIVED_HEADER3);
+}
+
+uint8_t RF22::headerFrom()
+{
+    return spiRead(RF22_REG_48_RECEIVED_HEADER2);
+}
+
+uint8_t RF22::headerId()
+{
+    return spiRead(RF22_REG_49_RECEIVED_HEADER1);
+}
+
+uint8_t RF22::headerFlags()
+{
+    return spiRead(RF22_REG_4A_RECEIVED_HEADER0);
+}
+
+uint8_t RF22::lastRssi()
+{
+    return _lastRssi;
+}
+
+void RF22::setPromiscuous(uint8_t promiscuous)
+{
+    spiWrite(RF22_REG_43_HEADER_ENABLE3, promiscuous ? 0x00 : 0xff);
+}
+
+uint64_t 
+RF22::getTimestamp () {
+    struct timeval tv;
+    gettimeofday(&tv, NULL);
+    return (uint64_t)(1000000 * tv.tv_sec + tv.tv_usec);
+}

src/rf22/rf22.hpp

@@ -0,0 +1,987 @@
+/*
+ * Author: Kiveisha Yevgeniy
+ * Copyright (c) 2015-2016 Intel Corporation
+ *
+ * Author: Mike McCauley
+ * Copyright (c) 2011 Mike McCauley
+ *
+ * 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 <stdint.h>
+#include <mraa.h>
+
+// This is the bit in the SPI address that marks it as a write
+#define RF22_SPI_WRITE_MASK 0x80
+
+// This is the maximum message length that can be supported by this library. Limited by
+// the single message length octet in the header. 
+// Yes, 255 is correct even though the FIFO size in the RF22 is only
+// 64 octets. We use interrupts to refill the Tx FIFO during transmission and to empty the
+// Rx FIFO during reception
+// Can be pre-defined to a smaller size (to save SRAM) prior to including this header
+#ifndef RF22_MAX_MESSAGE_LEN
+//#define RF22_MAX_MESSAGE_LEN 255
+#define RF22_MAX_MESSAGE_LEN 50
+#endif
+
+// Max number of octets the RF22 Rx and Tx FIFOs can hold
+#define RF22_FIFO_SIZE 64
+
+// Keep track of the mode the RF22 is in
+#define RF22_MODE_IDLE         0
+#define RF22_MODE_RX           1
+#define RF22_MODE_TX           2
+
+// These values we set for FIFO thresholds are actually the same as the POR values
+#define RF22_TXFFAEM_THRESHOLD 4
+#define RF22_RXFFAFULL_THRESHOLD 55
+
+// This is the default node address,
+#define RF22_DEFAULT_NODE_ADDRESS 0
+
+// This address in the TO address signifies a broadcast
+#define RF22_BROADCAST_ADDRESS 0xff
+
+// Number of registers to be passed to setModemConfig()
+#define RF22_NUM_MODEM_CONFIG_REGS 18
+
+// Register names
+#define RF22_REG_00_DEVICE_TYPE                         0x00
+#define RF22_REG_01_VERSION_CODE                        0x01
+#define RF22_REG_02_DEVICE_STATUS                       0x02
+#define RF22_REG_03_INTERRUPT_STATUS1                   0x03
+#define RF22_REG_04_INTERRUPT_STATUS2                   0x04
+#define RF22_REG_05_INTERRUPT_ENABLE1                   0x05
+#define RF22_REG_06_INTERRUPT_ENABLE2                   0x06
+#define RF22_REG_07_OPERATING_MODE1                     0x07
+#define RF22_REG_08_OPERATING_MODE2                     0x08
+#define RF22_REG_09_OSCILLATOR_LOAD_CAPACITANCE         0x09
+#define RF22_REG_0A_UC_OUTPUT_CLOCK                     0x0a
+#define RF22_REG_0B_GPIO_CONFIGURATION0                 0x0b
+#define RF22_REG_0C_GPIO_CONFIGURATION1                 0x0c
+#define RF22_REG_0D_GPIO_CONFIGURATION2                 0x0d
+#define RF22_REG_0E_IO_PORT_CONFIGURATION               0x0e
+#define RF22_REG_0F_ADC_CONFIGURATION                   0x0f
+#define RF22_REG_10_ADC_SENSOR_AMP_OFFSET               0x10
+#define RF22_REG_11_ADC_VALUE                           0x11
+#define RF22_REG_12_TEMPERATURE_SENSOR_CALIBRATION      0x12
+#define RF22_REG_13_TEMPERATURE_VALUE_OFFSET            0x13
+#define RF22_REG_14_WAKEUP_TIMER_PERIOD1                0x14
+#define RF22_REG_15_WAKEUP_TIMER_PERIOD2                0x15
+#define RF22_REG_16_WAKEUP_TIMER_PERIOD3                0x16
+#define RF22_REG_17_WAKEUP_TIMER_VALUE1                 0x17
+#define RF22_REG_18_WAKEUP_TIMER_VALUE2                 0x18
+#define RF22_REG_19_LDC_MODE_DURATION                   0x19
+#define RF22_REG_1A_LOW_BATTERY_DETECTOR_THRESHOLD      0x1a
+#define RF22_REG_1B_BATTERY_VOLTAGE_LEVEL               0x1b
+#define RF22_REG_1C_IF_FILTER_BANDWIDTH                 0x1c
+#define RF22_REG_1D_AFC_LOOP_GEARSHIFT_OVERRIDE         0x1d
+#define RF22_REG_1E_AFC_TIMING_CONTROL                  0x1e
+#define RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE   0x1f
+#define RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE    0x20
+#define RF22_REG_21_CLOCK_RECOVERY_OFFSET2              0x21
+#define RF22_REG_22_CLOCK_RECOVERY_OFFSET1              0x22
+#define RF22_REG_23_CLOCK_RECOVERY_OFFSET0              0x23
+#define RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1    0x24
+#define RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0    0x25
+#define RF22_REG_26_RSSI                                0x26
+#define RF22_REG_27_RSSI_THRESHOLD                      0x27
+#define RF22_REG_28_ANTENNA_DIVERSITY1                  0x28
+#define RF22_REG_29_ANTENNA_DIVERSITY2                  0x29
+#define RF22_REG_2A_AFC_LIMITER                         0x2a
+#define RF22_REG_2B_AFC_CORRECTION_READ                 0x2b
+#define RF22_REG_2C_OOK_COUNTER_VALUE_1                 0x2c
+#define RF22_REG_2D_OOK_COUNTER_VALUE_2                 0x2d
+#define RF22_REG_2E_SLICER_PEAK_HOLD                    0x2e
+#define RF22_REG_30_DATA_ACCESS_CONTROL                 0x30
+#define RF22_REG_31_EZMAC_STATUS                        0x31
+#define RF22_REG_32_HEADER_CONTROL1                     0x32
+#define RF22_REG_33_HEADER_CONTROL2                     0x33
+#define RF22_REG_34_PREAMBLE_LENGTH                     0x34
+#define RF22_REG_35_PREAMBLE_DETECTION_CONTROL1         0x35
+#define RF22_REG_36_SYNC_WORD3                          0x36
+#define RF22_REG_37_SYNC_WORD2                          0x37
+#define RF22_REG_38_SYNC_WORD1                          0x38
+#define RF22_REG_39_SYNC_WORD0                          0x39
+#define RF22_REG_3A_TRANSMIT_HEADER3                    0x3a
+#define RF22_REG_3B_TRANSMIT_HEADER2                    0x3b
+#define RF22_REG_3C_TRANSMIT_HEADER1                    0x3c
+#define RF22_REG_3D_TRANSMIT_HEADER0                    0x3d
+#define RF22_REG_3E_PACKET_LENGTH                       0x3e
+#define RF22_REG_3F_CHECK_HEADER3                       0x3f
+#define RF22_REG_40_CHECK_HEADER2                       0x40
+#define RF22_REG_41_CHECK_HEADER1                       0x41
+#define RF22_REG_42_CHECK_HEADER0                       0x42
+#define RF22_REG_43_HEADER_ENABLE3                      0x43
+#define RF22_REG_44_HEADER_ENABLE2                      0x44
+#define RF22_REG_45_HEADER_ENABLE1                      0x45
+#define RF22_REG_46_HEADER_ENABLE0                      0x46
+#define RF22_REG_47_RECEIVED_HEADER3                    0x47
+#define RF22_REG_48_RECEIVED_HEADER2                    0x48
+#define RF22_REG_49_RECEIVED_HEADER1                    0x49
+#define RF22_REG_4A_RECEIVED_HEADER0                    0x4a
+#define RF22_REG_4B_RECEIVED_PACKET_LENGTH              0x4b
+#define RF22_REG_50_ANALOG_TEST_BUS_SELECT              0x50
+#define RF22_REG_51_DIGITAL_TEST_BUS_SELECT             0x51
+#define RF22_REG_52_TX_RAMP_CONTROL                     0x52
+#define RF22_REG_53_PLL_TUNE_TIME                       0x53
+#define RF22_REG_55_CALIBRATION_CONTROL                 0x55
+#define RF22_REG_56_MODEM_TEST                          0x56
+#define RF22_REG_57_CHARGE_PUMP_TEST                    0x57
+#define RF22_REG_58_CHARGE_PUMP_CURRENT_TRIMMING        0x58
+#define RF22_REG_59_DIVIDER_CURRENT_TRIMMING            0x59
+#define RF22_REG_5A_VCO_CURRENT_TRIMMING                0x5a
+#define RF22_REG_5B_VCO_CALIBRATION                     0x5b
+#define RF22_REG_5C_SYNTHESIZER_TEST                    0x5c
+#define RF22_REG_5D_BLOCK_ENABLE_OVERRIDE1              0x5d
+#define RF22_REG_5E_BLOCK_ENABLE_OVERRIDE2              0x5e
+#define RF22_REG_5F_BLOCK_ENABLE_OVERRIDE3              0x5f
+#define RF22_REG_60_CHANNEL_FILTER_COEFFICIENT_ADDRESS  0x60
+#define RF22_REG_61_CHANNEL_FILTER_COEFFICIENT_VALUE    0x61
+#define RF22_REG_62_CRYSTAL_OSCILLATOR_POR_CONTROL      0x62
+#define RF22_REG_63_RC_OSCILLATOR_COARSE_CALIBRATION    0x63
+#define RF22_REG_64_RC_OSCILLATOR_FINE_CALIBRATION      0x64
+#define RF22_REG_65_LDO_CONTROL_OVERRIDE                0x65
+#define RF22_REG_66_LDO_LEVEL_SETTINGS                  0x66
+#define RF22_REG_67_DELTA_SIGMA_ADC_TUNING1             0x67
+#define RF22_REG_68_DELTA_SIGMA_ADC_TUNING2             0x68
+#define RF22_REG_69_AGC_OVERRIDE1                       0x69
+#define RF22_REG_6A_AGC_OVERRIDE2                       0x6a
+#define RF22_REG_6B_GFSK_FIR_FILTER_COEFFICIENT_ADDRESS 0x6b
+#define RF22_REG_6C_GFSK_FIR_FILTER_COEFFICIENT_VALUE   0x6c
+#define RF22_REG_6D_TX_POWER                            0x6d
+#define RF22_REG_6E_TX_DATA_RATE1                       0x6e
+#define RF22_REG_6F_TX_DATA_RATE0                       0x6f
+#define RF22_REG_70_MODULATION_CONTROL1                 0x70
+#define RF22_REG_71_MODULATION_CONTROL2                 0x71
+#define RF22_REG_72_FREQUENCY_DEVIATION                 0x72
+#define RF22_REG_73_FREQUENCY_OFFSET1                   0x73
+#define RF22_REG_74_FREQUENCY_OFFSET2                   0x74
+#define RF22_REG_75_FREQUENCY_BAND_SELECT               0x75
+#define RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1          0x76
+#define RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0          0x77
+#define RF22_REG_79_FREQUENCY_HOPPING_CHANNEL_SELECT    0x79
+#define RF22_REG_7A_FREQUENCY_HOPPING_STEP_SIZE         0x7a
+#define RF22_REG_7C_TX_FIFO_CONTROL1                    0x7c
+#define RF22_REG_7D_TX_FIFO_CONTROL2                    0x7d
+#define RF22_REG_7E_RX_FIFO_CONTROL                     0x7e
+#define RF22_REG_7F_FIFO_ACCESS                         0x7f
+
+// These register masks etc are named wherever possible
+// corresponding to the bit and field names in the RF-22 Manual
+// RF22_REG_00_DEVICE_TYPE                      0x00
+#define RF22_DEVICE_TYPE_RX_TRX                 0x08
+#define RF22_DEVICE_TYPE_TX                     0x07
+
+// RF22_REG_02_DEVICE_STATUS                    0x02
+#define RF22_FFOVL                              0x80
+#define RF22_FFUNFL                             0x40
+#define RF22_RXFFEM                             0x20
+#define RF22_HEADERR                            0x10
+#define RF22_FREQERR                            0x08
+#define RF22_LOCKDET                            0x04
+#define RF22_CPS                                0x03
+#define RF22_CPS_IDLE                           0x00
+#define RF22_CPS_RX                             0x01
+#define RF22_CPS_TX                             0x10
+
+// RF22_REG_03_INTERRUPT_STATUS1                0x03
+#define RF22_IFFERROR                           0x80
+#define RF22_ITXFFAFULL                         0x40
+#define RF22_ITXFFAEM                           0x20
+#define RF22_IRXFFAFULL                         0x10
+#define RF22_IEXT                               0x08
+#define RF22_IPKSENT                            0x04
+#define RF22_IPKVALID                           0x02
+#define RF22_ICRCERROR                          0x01
+
+// RF22_REG_04_INTERRUPT_STATUS2                0x04
+#define RF22_ISWDET                             0x80
+#define RF22_IPREAVAL                           0x40
+#define RF22_IPREAINVAL                         0x20
+#define RF22_IRSSI                              0x10
+#define RF22_IWUT                               0x08
+#define RF22_ILBD                               0x04
+#define RF22_ICHIPRDY                           0x02
+#define RF22_IPOR                               0x01
+
+// RF22_REG_05_INTERRUPT_ENABLE1                0x05
+#define RF22_ENFFERR                            0x80
+#define RF22_ENTXFFAFULL                        0x40
+#define RF22_ENTXFFAEM                          0x20
+#define RF22_ENRXFFAFULL                        0x10
+#define RF22_ENEXT                              0x08
+#define RF22_ENPKSENT                           0x04
+#define RF22_ENPKVALID                          0x02
+#define RF22_ENCRCERROR                         0x01
+
+// RF22_REG_06_INTERRUPT_ENABLE2                0x06
+#define RF22_ENSWDET                            0x80
+#define RF22_ENPREAVAL                          0x40
+#define RF22_ENPREAINVAL                        0x20
+#define RF22_ENRSSI                             0x10
+#define RF22_ENWUT                              0x08
+#define RF22_ENLBDI                             0x04
+#define RF22_ENCHIPRDY                          0x02
+#define RF22_ENPOR                              0x01
+
+// RF22_REG_07_OPERATING_MODE                   0x07
+#define RF22_SWRES                              0x80
+#define RF22_ENLBD                              0x40
+#define RF22_ENWT                               0x20
+#define RF22_X32KSEL                            0x10
+#define RF22_TXON                               0x08
+#define RF22_RXON                               0x04
+#define RF22_PLLON                              0x02
+#define RF22_XTON                               0x01
+
+// RF22_REG_08_OPERATING_MODE2                  0x08
+#define RF22_ANTDIV                             0xc0
+#define RF22_RXMPK                              0x10
+#define RF22_AUTOTX                             0x08
+#define RF22_ENLDM                              0x04
+#define RF22_FFCLRRX                            0x02
+#define RF22_FFCLRTX                            0x01
+
+// RF22_REG_0F_ADC_CONFIGURATION                0x0f
+#define RF22_ADCSTART                           0x80
+#define RF22_ADCDONE                            0x80
+#define RF22_ADCSEL                             0x70
+#define RF22_ADCSEL_INTERNAL_TEMPERATURE_SENSOR 0x00
+#define RF22_ADCSEL_GPIO0_SINGLE_ENDED          0x10
+#define RF22_ADCSEL_GPIO1_SINGLE_ENDED          0x20
+#define RF22_ADCSEL_GPIO2_SINGLE_ENDED          0x30
+#define RF22_ADCSEL_GPIO0_GPIO1_DIFFERENTIAL    0x40
+#define RF22_ADCSEL_GPIO1_GPIO2_DIFFERENTIAL    0x50
+#define RF22_ADCSEL_GPIO0_GPIO2_DIFFERENTIAL    0x60
+#define RF22_ADCSEL_GND                         0x70
+#define RF22_ADCREF                             0x0c
+#define RF22_ADCREF_BANDGAP_VOLTAGE             0x00
+#define RF22_ADCREF_VDD_ON_3                    0x08
+#define RF22_ADCREF_VDD_ON_2                    0x0c
+#define RF22_ADCGAIN                            0x03
+
+// RF22_REG_10_ADC_SENSOR_AMP_OFFSET            0x10
+#define RF22_ADCOFFS                            0x0f
+
+// RF22_REG_12_TEMPERATURE_SENSOR_CALIBRATION   0x12
+#define RF22_TSRANGE                            0xc0
+#define RF22_TSRANGE_M64_64C                    0x00
+#define RF22_TSRANGE_M64_192C                   0x40
+#define RF22_TSRANGE_0_128C                     0x80
+#define RF22_TSRANGE_M40_216F                   0xc0
+#define RF22_ENTSOFFS                           0x20
+#define RF22_ENTSTRIM                           0x10
+#define RF22_TSTRIM                             0x0f
+
+// RF22_REG_14_WAKEUP_TIMER_PERIOD1             0x14
+#define RF22_WTR                                0x3c
+#define RF22_WTD                                0x03
+
+// RF22_REG_1D_AFC_LOOP_GEARSHIFT_OVERRIDE      0x1d
+#define RF22_AFBCD                              0x80
+#define RF22_ENAFC                              0x40
+#define RF22_AFCGEARH                           0x38
+#define RF22_AFCGEARL                           0x07
+
+// RF22_REG_1E_AFC_TIMING_CONTROL               0x1e
+#define RF22_SWAIT_TIMER                        0xc0
+#define RF22_SHWAIT                             0x38
+#define RF22_ANWAIT                             0x07
+
+// RF22_REG_30_DATA_ACCESS_CONTROL              0x30
+#define RF22_ENPACRX                            0x80
+#define RF22_MSBFRST                            0x00
+#define RF22_LSBFRST                            0x40
+#define RF22_CRCHDRS                            0x00
+#define RF22_CRCDONLY                           0x20
+#define RF22_ENPACTX                            0x08
+#define RF22_ENCRC                              0x04
+#define RF22_CRC                                0x03
+#define RF22_CRC_CCITT                          0x00
+#define RF22_CRC_CRC_16_IBM                     0x01
+#define RF22_CRC_IEC_16                         0x02
+#define RF22_CRC_BIACHEVA                       0x03
+
+// RF22_REG_32_HEADER_CONTROL1                  0x32
+#define RF22_BCEN                               0xf0
+#define RF22_BCEN_NONE                          0x00
+#define RF22_BCEN_HEADER0                       0x10
+#define RF22_BCEN_HEADER1                       0x20
+#define RF22_BCEN_HEADER2                       0x40
+#define RF22_BCEN_HEADER3                       0x80
+#define RF22_HDCH                               0x0f
+#define RF22_HDCH_NONE                          0x00
+#define RF22_HDCH_HEADER0                       0x01
+#define RF22_HDCH_HEADER1                       0x02
+#define RF22_HDCH_HEADER2                       0x04
+#define RF22_HDCH_HEADER3                       0x08
+
+// RF22_REG_33_HEADER_CONTROL2                  0x33
+#define RF22_HDLEN                              0x70
+#define RF22_HDLEN_0                            0x00
+#define RF22_HDLEN_1                            0x10
+#define RF22_HDLEN_2                            0x20
+#define RF22_HDLEN_3                            0x30
+#define RF22_HDLEN_4                            0x40
+#define RF22_VARPKLEN                           0x00
+#define RF22_FIXPKLEN                           0x08
+#define RF22_SYNCLEN                            0x06
+#define RF22_SYNCLEN_1                          0x00
+#define RF22_SYNCLEN_2                          0x02
+#define RF22_SYNCLEN_3                          0x04
+#define RF22_SYNCLEN_4                          0x06
+#define RF22_PREALEN8                           0x01
+
+// RF22_REG_6D_TX_POWER                         0x6d
+#define RF22_TXPOW                              0x07
+#define RF22_TXPOW_4X31                         0x08 // Not used in RFM22B
+#define RF22_TXPOW_1DBM                         0x00
+#define RF22_TXPOW_2DBM                         0x01
+#define RF22_TXPOW_5DBM                         0x02
+#define RF22_TXPOW_8DBM                         0x03
+#define RF22_TXPOW_11DBM                        0x04
+#define RF22_TXPOW_14DBM                        0x05
+#define RF22_TXPOW_17DBM                        0x06
+#define RF22_TXPOW_20DBM                        0x07
+// IN RFM23B
+#define RF22_TXPOW_LNA_SW                       0x08
+
+// RF22_REG_71_MODULATION_CONTROL2              0x71
+#define RF22_TRCLK                              0xc0
+#define RF22_TRCLK_NONE                         0x00
+#define RF22_TRCLK_GPIO                         0x40
+#define RF22_TRCLK_SDO                          0x80
+#define RF22_TRCLK_NIRQ                         0xc0
+#define RF22_DTMOD                              0x30
+#define RF22_DTMOD_DIRECT_GPIO                  0x00
+#define RF22_DTMOD_DIRECT_SDI                   0x10
+#define RF22_DTMOD_FIFO                         0x20
+#define RF22_DTMOD_PN9                          0x30
+#define RF22_ENINV                              0x08
+#define RF22_FD8                                0x04
+#define RF22_MODTYP                             0x30
+#define RF22_MODTYP_UNMODULATED                 0x00
+#define RF22_MODTYP_OOK                         0x01
+#define RF22_MODTYP_FSK                         0x02
+#define RF22_MODTYP_GFSK                        0x03
+
+// RF22_REG_75_FREQUENCY_BAND_SELECT            0x75
+#define RF22_SBSEL                              0x40
+#define RF22_HBSEL                              0x20
+#define RF22_FB                                 0x1f
+
+// Define this to include Serial printing in diagnostic routines
+#define RF22_HAVE_SERIAL
+
+namespace upm {
+
+/**
+ * @brief RF22 Wireless Transceiver library
+ * @defgroup rf22 libupm-rf22
+ * @ingroup sparkfun spi wifi
+ */
+/**
+ * @library rf22
+ * @sensor rf22
+ * @comname RF22 Transceiver
+ * @altname RFM22B
+ * @type wifi
+ * @man sparkfun
+ * @web https://www.sparkfun.com/products/12030
+ * @con spi
+ *
+ * @brief API for the RF22 Transceiver Module
+ *
+ * This base class provides basic functions for sending and receiving unaddressable,
+ * unreliable datagrams of arbitrary length to 255 octets per packet.
+ *
+ * Subclasses may use this class to implement reliable, addressed datagrams and streams, 
+ * mesh routers, repeaters, translators etc.
+ *
+ * On transmission, the TO and FROM addresses default to 0x00, unless changed by a subclass. 
+ * On reception the TO addressed is checked against the node address (defaults to 0x00) or the
+ * broadcast address (which is 0xff). The ID and FLAGS are set to 0, and not checked by this class.
+ * This permits use of the this base RF22 class as an unaddressable, unreliable datagram service.
+ * Subclasses are expected to change this behavior to add node address, ids, retransmission etc.
+ *
+ * Naturally, for any 2 radios to communicate that must be configured to use the same frequency and 
+ * modulation scheme.
+ *
+ * @image html rf22.jpg
+ * <br><em>RF22 Sensor image provided by SparkFun* under
+ * <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/>
+ * CC BY-NC-SA-3.0</a>.</em>
+ *
+ * @snippet rf22-server.cxx Interesting
+ * @snippet rf22-client.cxx Interesting
+ */
+class RF22
+{
+public:
+
+    /**
+     * @brief Defines register values for a set of modem configuration registers
+     *
+     * Defines register values for a set of modem configuration registers
+     * that can be passed to setModemConfig()
+     * if none of the choices in ModemConfigChoice suit your need
+     * setModemConfig() writes the register values to the appropriate RF22 registers
+     * to set the desired modulation type, data rate and deviation/bandwidth.
+     * Suitable values for these registers can be computed using the register calculator at
+     * http://www.hoperf.com/upload/rf/RF22B%2023B%2031B%2042B%2043B%20Register%20Settings_RevB1-v5.xls
+     */
+    typedef struct
+    {
+    uint8_t    reg_1c;   ///< Value for register RF22_REG_1C_IF_FILTER_BANDWIDTH
+    uint8_t    reg_1f;   ///< Value for register RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE
+    uint8_t    reg_20;   ///< Value for register RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE
+    uint8_t    reg_21;   ///< Value for register RF22_REG_21_CLOCK_RECOVERY_OFFSET2 
+    uint8_t    reg_22;   ///< Value for register RF22_REG_22_CLOCK_RECOVERY_OFFSET1 
+    uint8_t    reg_23;   ///< Value for register RF22_REG_23_CLOCK_RECOVERY_OFFSET0
+    uint8_t    reg_24;   ///< Value for register RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1
+    uint8_t    reg_25;   ///< Value for register RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0 
+    uint8_t    reg_2c;   ///< Value for register RF22_REG_2C_OOK_COUNTER_VALUE_1 
+    uint8_t    reg_2d;   ///< Value for register RF22_REG_2D_OOK_COUNTER_VALUE_2
+    uint8_t    reg_2e;   ///< Value for register RF22_REG_2E_SLICER_PEAK_HOLD 
+    uint8_t    reg_58;   ///< Value for register RF22_REG_58_CHARGE_PUMP_CURRENT_TRIMMING
+    uint8_t    reg_69;   ///< Value for register RF22_REG_69_AGC_OVERRIDE1 
+    uint8_t    reg_6e;   ///< Value for register RF22_REG_6E_TX_DATA_RATE1
+    uint8_t    reg_6f;   ///< Value for register RF22_REG_6F_TX_DATA_RATE0 
+    uint8_t    reg_70;   ///< Value for register RF22_REG_70_MODULATION_CONTROL1
+    uint8_t    reg_71;   ///< Value for register RF22_REG_71_MODULATION_CONTROL2
+    uint8_t    reg_72;   ///< Value for register RF22_REG_72_FREQUENCY_DEVIATION
+    } ModemConfig;
+
+    /**
+     * Choices for setModemConfig() for a selected subset of common modulation types,
+     * and data rates. If you need another configuration, use the register calculator.
+     * and call setModemRegisters() with your desired settings
+     * These are indexes into _modemConfig
+     */
+    typedef enum
+    {
+    UnmodulatedCarrier = 0, ///< Unmodulated carrier for testing
+    FSK_PN9_Rb2Fd5,      ///< FSK, No Manchester, Rb = 2kbs, Fd = 5kHz, PN9 random modulation for testing
+
+    FSK_Rb2Fd5,      ///< FSK, No Manchester, Rb = 2kbs,    Fd = 5kHz
+    FSK_Rb2_4Fd36,       ///< FSK, No Manchester, Rb = 2.4kbs,  Fd = 36kHz
+    FSK_Rb4_8Fd45,       ///< FSK, No Manchester, Rb = 4.8kbs,  Fd = 45kHz
+    FSK_Rb9_6Fd45,       ///< FSK, No Manchester, Rb = 9.6kbs,  Fd = 45kHz
+    FSK_Rb19_2Fd9_6,     ///< FSK, No Manchester, Rb = 19.2kbs, Fd = 9.6kHz
+    FSK_Rb38_4Fd19_6,    ///< FSK, No Manchester, Rb = 38.4kbs, Fd = 19.6kHz
+    FSK_Rb57_6Fd28_8,    ///< FSK, No Manchester, Rb = 57.6kbs, Fd = 28.8kHz
+    FSK_Rb125Fd125,      ///< FSK, No Manchester, Rb = 125kbs,  Fd = 125kHz
+
+    GFSK_Rb2Fd5,         ///< GFSK, No Manchester, Rb = 2kbs,    Fd = 5kHz
+    GFSK_Rb2_4Fd36,      ///< GFSK, No Manchester, Rb = 2.4kbs,  Fd = 36kHz
+    GFSK_Rb4_8Fd45,      ///< GFSK, No Manchester, Rb = 4.8kbs,  Fd = 45kHz
+    GFSK_Rb9_6Fd45,      ///< GFSK, No Manchester, Rb = 9.6kbs,  Fd = 45kHz
+    GFSK_Rb19_2Fd9_6,    ///< GFSK, No Manchester, Rb = 19.2kbs, Fd = 9.6kHz
+    GFSK_Rb38_4Fd19_6,   ///< GFSK, No Manchester, Rb = 38.4kbs, Fd = 19.6kHz
+    GFSK_Rb57_6Fd28_8,   ///< GFSK, No Manchester, Rb = 57.6kbs, Fd = 28.8kHz
+    GFSK_Rb125Fd125,     ///< GFSK, No Manchester, Rb = 125kbs,  Fd = 125kHz
+
+    OOK_Rb1_2Bw75,       ///< OOK, No Manchester, Rb = 1.2kbs,  Rx Bandwidth = 75kHz
+    OOK_Rb2_4Bw335,      ///< OOK, No Manchester, Rb = 2.4kbs,  Rx Bandwidth = 335kHz
+    OOK_Rb4_8Bw335,      ///< OOK, No Manchester, Rb = 4.8kbs,  Rx Bandwidth = 335kHz
+    OOK_Rb9_6Bw335,      ///< OOK, No Manchester, Rb = 9.6kbs,  Rx Bandwidth = 335kHz
+    OOK_Rb19_2Bw335,     ///< OOK, No Manchester, Rb = 19.2kbs, Rx Bandwidth = 335kHz
+    OOK_Rb38_4Bw335,     ///< OOK, No Manchester, Rb = 38.4kbs, Rx Bandwidth = 335kHz
+    OOK_Rb40Bw335        ///< OOK, No Manchester, Rb = 40kbs,   Rx Bandwidth = 335kHz
+    } ModemConfigChoice;
+
+    /**
+     * Constructor. You can have multiple instances, but each instance must have its own
+     * interrupt and slave select pin. After constructing, you must call init() to initialize the interface
+     * and the radio module
+     * @param[in] spiBus Pointer to the SPI interface object to use. Default 0 or the standard Arduino hardware
+     * SPI interface
+     * @param[in] slaveSelectPin the Arduino pin number of the output to use to select the RF22 before
+     * accessing it. Default is 10 or the normal SS pin for Arduino
+     * @param[in] interruptPin The interrupt pin number to use. Default is 2
+     */
+    RF22(int spiBus = 0, int slaveSelectPin = 10, int interruptPin = 2);
+
+    /**
+     * Destructor.
+     */
+     virtual ~RF22();
+
+    /**
+     * Initializes this instance and the radio module connected to it.
+     * The following steps are taken:
+     * - Software reset the RF22 module
+     * - Checks the connected RF22 module is either a RF22_DEVICE_TYPE_RX_TRX or a RF22_DEVICE_TYPE_TX
+     * - Configures the RF22 module
+     * - Sets the frequency to 434.0 MHz
+     * - Sets the modem data rate to FSK_Rb2_4Fd36
+     * @return  true if everything was successful
+     */
+    uint8_t        init();
+
+    /**
+     * Issues a software reset to the 
+     * RF22 module. Blocks for 1ms to ensure the reset is complete.
+     */
+    void           reset();
+
+    /**
+     * Reads a single register from the RF22
+     * @param[in] reg Register number, one of RF22_REG_*
+     * @return The value of the register
+     */
+    uint8_t        spiRead(uint8_t reg);
+
+    /**
+     * Writes a single byte to the RF22
+     * @param[in] reg Register number, one of RF22_REG_*
+     * @param[in] val The value to write
+     */
+    void           spiWrite(uint8_t reg, uint8_t val);
+
+    /**
+     * Reads a number of consecutive registers from the RF22 using burst read mode
+     * @param[in] reg Register number of the first register, one of RF22_REG_*
+     * @param[in] dest Array to write the register values to. Must be at least len bytes
+     * @param[in] len Number of bytes to read
+     */
+    void           spiBurstRead(uint8_t reg, uint8_t* dest, uint8_t len);
+
+    /**
+     * Write a number of consecutive registers using burst write mode
+     * @param[in] reg Register number of the first register, one of RF22_REG_*
+     * @param[in] src Array of new register values to write. Must be at least len bytes
+     * @param[in] len Number of bytes to write
+     */
+    void           spiBurstWrite(uint8_t reg, const uint8_t* src, uint8_t len);
+
+    /**
+     * Reads and returns the device status register RF22_REG_02_DEVICE_STATUS
+     * @return The value of the device status register
+     */
+    uint8_t        statusRead();
+
+    /**
+     * Reads a value from the on-chip analog-digital converter
+     * @param[in] adcsel Selects the ADC input to measure. One of RF22_ADCSEL_*. Defaults to the 
+     * internal temperature sensor
+     * @param[in] adcref Specifies the reference voltage to use. One of RF22_ADCREF_*. 
+     * Defaults to the internal bandgap voltage.
+     * @param[in] adcgain Amplifier gain selection. 
+     * @param[in] adcoffs Amplifier offset (0 to 15).
+     * @return The analog value. 0 to 255.
+     */
+    uint8_t        adcRead(uint8_t adcsel = RF22_ADCSEL_INTERNAL_TEMPERATURE_SENSOR,
+               uint8_t adcref = RF22_ADCREF_BANDGAP_VOLTAGE,
+               uint8_t adcgain = 0, 
+               uint8_t adcoffs = 0);
+
+    /**
+     * Reads the on-chip temperature sensor
+     * @param[in] tsrange Specifies the temperature range to use. One of RF22_TSRANGE_*
+     * @param[in] tvoffs Specifies the temperature value offset. This is actually signed value 
+     * added to the measured temperature value
+     * @return The measured temperature.
+     */
+    uint8_t        temperatureRead(uint8_t tsrange = RF22_TSRANGE_M64_64C, uint8_t tvoffs = 0);   
+
+    /**
+     * Reads the wakeup timer value in registers RF22_REG_17_WAKEUP_TIMER_VALUE1 
+     * and RF22_REG_18_WAKEUP_TIMER_VALUE2
+     * @return The wakeup timer value 
+     */
+    uint16_t       wutRead();
+
+    /**
+     * Sets the wakeup timer period registers RF22_REG_14_WAKEUP_TIMER_PERIOD1,
+     * RF22_REG_15_WAKEUP_TIMER_PERIOD2 and RF22_R<EG_16_WAKEUP_TIMER_PERIOD3
+     * @param[in] wtm Wakeup timer mantissa value
+     * @param[in] wtr Wakeup timer exponent R value
+     * @param[in] wtd Wakeup timer exponent D value
+     */
+    void           setWutPeriod(uint16_t wtm, uint8_t wtr = 0, uint8_t wtd = 0);
+
+    /**
+     * Sets the transmitter and receiver center frequency
+     * @param[in] center Frequency in MHz. 240.0 to 960.0. Caution, some versions of RF22 and derivatives 
+     * implemented more restricted frequency ranges.
+     * @param[in] afcPullInRange Sets the AF Pull In Range in MHz. Defaults to 0.05MHz (50kHz). Range is 0.0 to 0.159375
+     * for frequencies 240.0 to 480MHz, and 0.0 to 0.318750MHz for  frequencies 480.0 to 960MHz, 
+     * @return true if the selected frequency center + (fhch * fhs) is within range and the afcPullInRange is within range
+     */
+    uint8_t        setFrequency(float center, float afcPullInRange = 0.05);
+
+    /**
+     * Sets the frequency hopping step size.
+     * @param[in] fhs Frequency Hopping step size in 10kHz increments
+     * @return true if center + (fhch * fhs) is within limits
+     */
+    uint8_t        setFHStepSize(uint8_t fhs);
+
+    /**
+     * Sets the frequency hopping channel. Adds fhch * fhs to center frequency
+     * @param[in] fhch The channel number
+     * @return true if the selected frequency center + (fhch * fhs) is within range
+     */
+    uint8_t        setFHChannel(uint8_t fhch);
+
+    /**
+     * Reads and returns the current RSSI value from register RF22_REG_26_RSSI. If you want to find the RSSI
+     * of the last received message, use lastRssi() instead.
+     * @return The current RSSI value 
+     */
+    uint8_t        rssiRead();
+
+    /**
+     * Reads and returns the current EZMAC value from register RF22_REG_31_EZMAC_STATUS
+     * @return The current EZMAC value
+     */
+    uint8_t        ezmacStatusRead();
+
+    /**
+     * Sets the parameters for the RF22 Idle mode in register RF22_REG_07_OPERATING_MODE. 
+     * Idle mode is the mode the RF22 will be in when not transmitting or receiving. The default idle mode 
+     * is RF22_XTON i.e. READY mode. 
+     * @param[in] mode Mask of mode bits, using RF22_SWRES, RF22_ENLBD, RF22_ENWT, 
+     * RF22_X32KSEL, RF22_PLLON, RF22_XTON.
+     */
+    void           setMode(uint8_t mode);
+
+    /**
+     * If current mode is Rx or Tx changes it to Idle. If the transmitter or receiver is running, 
+     * disables them.
+     */
+    void           setModeIdle();
+
+    /**
+     * If current mode is Tx or Idle, changes it to Rx. 
+     * Starts the receiver in the RF22.
+     */
+    void           setModeRx();
+
+    /**
+     * If current mode is Rx or Idle, changes it to Rx. 
+     * Starts the transmitter in the RF22.
+     */
+    void           setModeTx();
+
+    /**
+     * Returns the operating mode of the library.
+     * @return the current mode, one of RF22_MODE_*
+     */
+    uint8_t        mode();
+
+    /**
+     * Sets the transmitter power output level in register RF22_REG_6D_TX_POWER.
+     * Be a good neighbor and set the lowest power level you need.
+     * After init(), the power will be set to RF22_TXPOW_8DBM.
+     * Caution: In some countries you may only select RF22_TXPOW_17DBM if you
+     * are also using frequency hopping.
+     * @param[in] power Transmitter power level, one of RF22_TXPOW_*
+     */
+    void           setTxPower(uint8_t power);
+
+    /**
+     * Sets all the registered required to configure the data modem in the RF22, including the data rate, 
+     * bandwidths etc. You can use this to configure the modem with custom configurations if none of the 
+     * canned configurations in ModemConfigChoice suit you.
+     * @param[in] config A ModemConfig structure containing values for the modem configuration registers.
+     */
+    void           setModemRegisters(const ModemConfig* config);
+
+    /**
+     * Select one of the predefined modem configurations. If you need a modem configuration not provided 
+     * here, use setModemRegisters() with your own ModemConfig.
+     * @param[in] index The configuration choice.
+     * @return true if index is a valid choice.
+     */
+    uint8_t        setModemConfig(ModemConfigChoice index);
+
+    /**
+     * Starts the receiver and checks whether a received message is available.
+     * This can be called multiple times in a timeout loop
+     * @return true if a complete, valid message has been received and is able to be retrieved by
+     * recv()
+     */
+    uint8_t        available();
+
+    /**
+     * Starts the receiver and blocks until a valid received 
+     * message is available.
+     */
+    void           waitAvailable();
+
+    /**
+     * Starts the receiver and blocks until a received message is available or a timeout
+     * @param[in] timeout Maximum time to wait in milliseconds.
+     * @return true if a message is available
+     */
+    bool           waitAvailableTimeout(unsigned long timeout);
+
+    /**
+     * Turns the receiver on if it not already on.
+     * If there is a valid message available, copy it to buf and return true
+     * else return false.
+     * If a message is copied, *len is set to the length (Caution, 0 length messages are permitted).
+     * You should be sure to call this function frequently enough to not miss any messages
+     * It is recommended that you call it in your main loop.
+     * @param[in] buf Location to copy the received message
+     * @param[in,out] len Pointer to available space in buf. Set to the actual number of octets copied.
+     * @return true if a valid message was copied to buf
+     */
+    uint8_t        recv(uint8_t* buf, uint8_t* len);
+
+    /**
+     * Waits until any previous transmit packet is finished being transmitted with waitPacketSent().
+     * Then loads a message into the transmitter and starts the transmitter. Note that a message length
+     * of 0 is NOT permitted. 
+     * @param[in] data Array of data to be sent
+     * @param[in] len Number of bytes of data to send (> 0)
+     * @return true if the message length was valid and it was correctly queued for transmit
+     */
+    uint8_t        send(const uint8_t* data, uint8_t len);
+
+    /**
+     * Blocks until the RF22 is not in mode RF22_MODE_TX (i.e. until the RF22 is not transmitting).
+     * This effectively waits until any previous transmit packet is finished being transmitted.
+     */
+    void           waitPacketSent();
+
+    /**
+     * Tells the receiver to accept messages with any TO address, not just messages
+     * addressed to this node or the broadcast address
+     * @param[in] promiscuous true if you wish to receive messages with any TO address
+     */
+    void           setPromiscuous(uint8_t promiscuous);
+
+    /**
+     * Returns the TO header of the last received message
+     * @return The TO header
+     */
+    uint8_t        headerTo();
+
+    /**
+     * Returns the FROM header of the last received message
+     * @return The FROM header
+     */
+    uint8_t        headerFrom();
+
+    /**
+     * Returns the ID header of the last received message
+     * @return The ID header
+     */
+    uint8_t        headerId();
+
+    /**
+     * Returns the FLAGS header of the last received message
+     * @return The FLAGS header
+     */
+    uint8_t        headerFlags();
+
+    /**
+     * Returns the RSSI (Receiver Signal Strength Indicator)
+     * of the last received message. This measurement is taken when 
+     * the preamble has been received. It is a (non-linear) measure of the received signal strength.
+     * @return The RSSI
+     */
+    uint8_t        lastRssi();
+
+    /**
+     * Prints a data buffer in HEX.
+     * For diagnostic use
+     * @param[in] prompt string to preface the print
+     * @param[in] buf Location of the buffer to print
+     * @param[in] len Length of the buffer in octets.
+     */
+    static void     printBuffer(const char* prompt, const uint8_t* buf, uint8_t len);
+
+    /**
+     * Sets the length of the preamble
+     * in 4-bit nibbles. 
+     * Caution: this should be set to the same 
+     * value on all nodes in your network. Default is 8.
+     * Sets the message preamble length in RF22_REG_34_PREAMBLE_LENGTH
+     * @param[in] nibbles Preamble length in nibbles of 4 bits each.  
+     */
+    void           setPreambleLength(uint8_t nibbles);
+
+    /**
+     * Sets the sync words for transmit and receive in registers RF22_REG_36_SYNC_WORD3 
+     * to RF22_REG_39_SYNC_WORD0
+     * Caution: this should be set to the same 
+     * value on all nodes in your network. Default is { 0x2d, 0xd4 }
+     * @param[in] syncWords Array of sync words
+     * @param[in] len Number of sync words to set
+     */
+    void           setSyncWords(const uint8_t* syncWords, uint8_t len);
+
+protected:
+    /**
+     * This is a low level function to handle the interrupts for one instance of RF22.
+     * Called automatically when interrupt pin goes low, should not need to be called by user.
+     */
+    void           handleInterrupt();
+
+    /**
+     * Clears the receiver buffer.
+     * Internal use only
+     */
+    void           clearRxBuf();
+
+    /**
+     * Clears the transmitter buffer
+     * Internal use only
+     */
+    void           clearTxBuf();
+
+    /**
+     * Fills the transmitter buffer with the data of a message to be sent
+     * @param[in] data Array of data bytes to be sent (1 to 255)
+     * @param[in] len Number of data bytes in data (> 0)
+     * @return true if the message length is valid
+     */
+    uint8_t         fillTxBuf(const uint8_t* data, uint8_t len);
+
+    /**
+     * Appends the transmitter buffer with the data of a message to be sent
+     * @param[in] data Array of data bytes to be sent (0 to 255)
+     * @param[in] len Number of data bytes in data
+     * @return false if the resulting message would exceed RF22_MAX_MESSAGE_LEN, else true
+     */
+    uint8_t         appendTxBuf(const uint8_t* data, uint8_t len);
+
+    /**
+     * Internal function to load the next fragment of 
+     * the current message into the transmitter FIFO
+     * Internal use only
+     */
+    void           sendNextFragment();
+
+    /**
+     * Function to copy the next fragment from 
+     * the receiver FIFO into the receiver buffer
+     */
+    void           readNextFragment();
+
+    /**
+     * Clears the RF22 Rx and Tx FIFOs
+     * Internal use only
+     */
+    void           resetFifos();
+
+    /**
+     * Clears the RF22 Rx FIFO
+     * Internal use only
+     */
+    void           resetRxFifo();
+
+    /**
+     * Clears the RF22 Tx FIFO
+     * Internal use only
+     */
+    void           resetTxFifo();
+
+    /**
+     * This function will be called by handleInterrupt() if an RF22 external interrupt occurs. 
+     * This can only happen if external interrupts are enabled in the RF22 
+     * (which they are not by default). 
+     * Subclasses may override this function to get control when  an RF22 external interrupt occurs. 
+     */
+    virtual void   handleExternalInterrupt();
+
+    /**
+     * This function will be called by handleInterrupt() if an RF22 wakeup timer interrupt occurs. 
+     * This can only happen if wakeup timer interrupts are enabled in the RF22 
+     * (which they are not by default). 
+     * Subclasses may override this function to get control when  an RF22 wakeup timer interrupt occurs. 
+     */
+    virtual void   handleWakeupTimerInterrupt();
+
+    /**
+     * Sets the TO header to be sent in all subsequent messages
+     * @param[in] to The new TO header value
+     */
+    void           setHeaderTo(uint8_t to);
+
+    /**
+     * Sets the FROM header to be sent in all subsequent messages
+     * @param[in] from The new FROM header value
+     */
+    void           setHeaderFrom(uint8_t from);
+
+    /**
+     * Sets the ID header to be sent in all subsequent messages
+     * @param[in] id The new ID header value
+     */
+    void           setHeaderId(uint8_t id);
+
+    /**
+     * Sets the FLAGS header to be sent in all subsequent messages
+     * @param[in] flags The new FLAGS header value
+     */
+    void           setHeaderFlags(uint8_t flags);
+
+    /**
+     * Start the transmission of the contents 
+     * of the Tx buffer
+     */
+    void           startTransmit();
+
+    /**
+     * ReStart the transmission of the contents 
+     * of the Tx buffer after a transmission failure
+     */
+    void           restartTransmit();
+    uint64_t       getTimestamp ();
+
+private:
+    /**
+     * Static interrupt handler wrapper
+     */
+    static void         isr(void* args);
+    
+    mraa_spi_context    _spi;
+    mraa_gpio_context   _cs;
+    mraa_gpio_context   _irq;
+
+    volatile uint8_t    _mode; // One of RF22_MODE_*
+
+    uint8_t             _idleMode;
+    uint8_t             _deviceType;
+
+    // These volatile members may get changed in the interrupt service routine
+    volatile uint8_t    _bufLen;
+    uint8_t             _buf[RF22_MAX_MESSAGE_LEN];
+
+    volatile uint8_t    _rxBufValid;
+    volatile uint8_t    _txBufSentIndex;
+  
+    volatile uint16_t   _rxBad;
+    volatile uint16_t   _rxGood;
+    volatile uint16_t   _txGood;
+
+    volatile uint8_t    _lastRssi;
+};
+
+}

src/ssd1351/ssd1351.cxx

@@ -35,7 +35,7 @@
 using namespace upm;
 using namespace std;
 
-SSD1351::SSD1351 (uint8_t oc, uint8_t dc, uint8_t rst) :
+SSD1351::SSD1351 (int oc, int dc, int rst) :
         GFX(SSD1351WIDTH, SSD1351HEIGHT),
         m_spi(0), m_oc(oc), m_dc(dc), m_rst(rst) {
 

src/ssd1351/ssd1351.hpp

@@ -112,7 +112,7 @@ class SSD1351 : public GFX{
          * @param dc Data/command pin
          * @param rst Reset pin
          */
-        SSD1351 (uint8_t oc, uint8_t dc, uint8_t rst);
+        SSD1351 (int oc, int dc, int rst);
 
         /**
          * SSD1351 object destructor

src/st7735/st7735.cxx

@@ -34,7 +34,7 @@
 
 using namespace upm;
 
-ST7735::ST7735 (uint8_t csLCD, uint8_t cSD, uint8_t rs, uint8_t rst)
+ST7735::ST7735 (int csLCD, int cSD, int rs, int rst)
     : GFX (160, 128, m_map, font), m_spi(0), m_csLCDPinCtx(csLCD), m_cSDPinCtx(cSD),
       m_rSTPinCtx(rst), m_rSPinCtx(rs) {
 

src/st7735/st7735.hpp

@@ -527,7 +527,7 @@ class ST7735 : public GFX {
          * @param rs Data/command pin
          * @param rst Reset pin
          */
-        ST7735 (uint8_t csLCD, uint8_t cSD, uint8_t rs, uint8_t rst);
+        ST7735 (int csLCD, int cSD, int rs, int rst);
 
         /**
          * Returns the name of the component

src/ultrasonic/ultrasonic.cxx

@@ -33,7 +33,7 @@
 
 using namespace upm;
 
-UltraSonic::UltraSonic (uint8_t pin) {
+UltraSonic::UltraSonic (int pin) {
     m_name = "UltraSonic";
 
     mraa_init();

src/ultrasonic/ultrasonic.hpp

@@ -67,7 +67,7 @@ class UltraSonic {
          *
          * @param pin pin for triggering the sensor for distance and for receiving pulse response
          */
-        UltraSonic (uint8_t pin);
+        UltraSonic (int pin);
 
         /**
          * UltraSonic object destructor.

src/utilities/upm_utilities.c

@@ -26,39 +26,94 @@
 #include <upm_platform.h>
 #include <upm_utilities.h>
 
-void upm_delay(int time){
+void upm_delay(int time)
+{
+    if (time <= 0)
+        time = 1;
+
 #if defined(UPM_PLATFORM_LINUX)
+
     sleep(time);
+
 #elif defined(UPM_PLATFORM_ZEPHYR)
+# if KERNEL_VERSION_MAJOR == 1 && KERNEL_VERSION_MINOR >= 6
+
+    struct k_timer timer;
+    k_timer_init(&timer, NULL, NULL);
+    k_timer_start(&timer, time * 1000, 0);
+    k_timer_status_sync(&timer);
+
+# else
+
     struct nano_timer timer;
     void *timer_data[1];
     nano_timer_init(&timer, timer_data);
     nano_timer_start(&timer, SECONDS(time) + 1);
     nano_timer_test(&timer, TICKS_UNLIMITED);
+
+# endif
+
 #endif
 }
 
-void upm_delay_ms(int time){
+void upm_delay_ms(int time)
+{
+    if (time <= 0)
+        time = 1;
+
 #if defined(UPM_PLATFORM_LINUX)
+
     usleep(1000 * time);
+
 #elif defined(UPM_PLATFORM_ZEPHYR)
+# if KERNEL_VERSION_MAJOR == 1 && KERNEL_VERSION_MINOR >= 6
+
+    struct k_timer timer;
+    k_timer_init(&timer, NULL, NULL);
+    k_timer_start(&timer, time, 0);
+    k_timer_status_sync(&timer);
+
+# else
+
     struct nano_timer timer;
     void *timer_data[1];
     nano_timer_init(&timer, timer_data);
     nano_timer_start(&timer, MSEC(time) + 1);
     nano_timer_test(&timer, TICKS_UNLIMITED);
+
+# endif
 #endif
 }
 
-void upm_delay_us(int time){
+void upm_delay_us(int time)
+{
+    if (time <= 0)
+        time = 1;
+
 #if defined(UPM_PLATFORM_LINUX)
+
     usleep(time);
+
 #elif defined(UPM_PLATFORM_ZEPHYR)
+# if KERNEL_VERSION_MAJOR == 1 && KERNEL_VERSION_MINOR >= 6
+    // we will use a upm_clock to do microsecond timings here as k_timer has
+    // only a millisecond resolution.  So we init a clock and spin.
+
+    upm_clock_t timer;
+    upm_clock_init(&timer);
+    while (upm_elapsed_us(&timer) < time)
+        ; // spin
+
+# else
+
     struct nano_timer timer;
     void *timer_data[1];
     nano_timer_init(&timer, timer_data);
     nano_timer_start(&timer, USEC(time) + 1);
     nano_timer_test(&timer, TICKS_UNLIMITED);
+
+# endif
+
 #endif
 }
 

src/utilities/upm_utilities.h

@@ -45,6 +45,8 @@ typedef struct timeval upm_clock_t;
 #include <zephyr.h>
 #include <device.h>
 #include <sys_clock.h>
+#include <version.h>
+#include <kernel_version.h>
 
 #if defined(CONFIG_STDOUT_CONSOLE)
 #include <stdio.h>