1/*
2 * Author: Jon Trulson <jtrulson@ics.com>
3 * Copyright (c) 2014 Intel Corporation.
4 *
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24#pragma once
25
26#include <string>
27#include <mraa/aio.h>
28
29namespace upm {
30
31  /**
32   * @brief ENC03R Single Axis Gyro library
33   * @defgroup enc03r libupm-enc03r
34   * @ingroup seeed analog compass robok
35   */
36
37  /**
38   * @library enc03r
39   * @sensor enc03r
40   * @comname ENC03R Single Axis Gyro
41   * @altname Grove Single Axis Analog Gyro
42   * @type compass
43   * @man seeed
44   * @con analog
45   * @kit robok
46   *
47   * @brief API for the ENC03R Single Axis Analog Gyro
48   *
49   * UPM module for the ENC03R single axis analog gyro.
50   * This gyroscope measures x-axis angular velocity, that is
51   * how fast the sensor is rotating around the x-axis.
52   * Calibration of the sensor is necessary for accurate readings.
53   *
54   * @image html enc03r.jpg
55   * @snippet enc03r.cxx Interesting
56   */
57  class ENC03R {
58  public:
59
60    /**
61     * ENC03R sensor constructor
62     *
63     * @param pin Analog pin to use
64     * @param vref Reference voltage to use; default is 5.0 V
65     */
66    ENC03R(int pin, float vref=5.0);
67
68    /**
69     * ENC03R destructor
70     */
71    ~ENC03R();
72
73    /**
74     * Calibrates the sensor by determining an analog reading over many
75     * samples with no movement of the sensor. This must be done
76     * before attempting to use the sensor.
77     *
78     * @param samples Number of samples to use for calibration
79     */
80    void calibrate(unsigned int samples);
81
82    /**
83     * Returns the raw value of the sensor
84     *
85     * @return Raw value of the sensor
86     */
87    unsigned int value();
88
89    /**
90     * Returns the currently stored calibration value
91     *
92     * @return Current calibration value
93     */
94    float calibrationValue() { return m_calibrationValue; };
95
96    /**
97     * Computes angular velocity based on the value and stored calibration
98     * reference.
99     *
100     * @param val Value to use to compute angular velocity
101     * @return Computed angular velocity
102     */
103    double angularVelocity(unsigned int val);
104
105  private:
106    // determined by calibrate();
107    float m_calibrationValue;
108
109    // reference voltage
110    float m_vref;
111    mraa_aio_context m_aio;
112  };
113}
114
115
116