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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) 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 
     29 namespace 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