enc03r: C port; FTI; C++ wraps C
The API for this driver has changed. See docs/apichanges.md. Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
@@ -1,6 +1,6 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2014 Intel Corporation.
|
||||
* Copyright (c) 2014-2017 Intel Corporation.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
@@ -24,92 +24,116 @@
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
#include <mraa/aio.h>
|
||||
#include "enc03r.h"
|
||||
|
||||
namespace upm {
|
||||
|
||||
/**
|
||||
* @brief ENC03R Single Axis Gyro library
|
||||
* @defgroup enc03r libupm-enc03r
|
||||
* @ingroup seeed analog compass robok
|
||||
*/
|
||||
|
||||
/**
|
||||
* @library enc03r
|
||||
* @sensor enc03r
|
||||
* @comname ENC03R Single Axis Gyro
|
||||
* @altname Grove Single Axis Analog Gyro
|
||||
* @type compass
|
||||
* @man seeed
|
||||
* @con analog
|
||||
* @kit robok
|
||||
*
|
||||
* @brief API for the ENC03R Single Axis Analog Gyro
|
||||
*
|
||||
* UPM module for the ENC03R single axis analog gyro.
|
||||
* This gyroscope measures x-axis angular velocity, that is
|
||||
* how fast the sensor is rotating around the x-axis.
|
||||
* Calibration of the sensor is necessary for accurate readings.
|
||||
*
|
||||
* @image html enc03r.jpg
|
||||
* @snippet enc03r.cxx Interesting
|
||||
*/
|
||||
class ENC03R {
|
||||
public:
|
||||
/**
|
||||
* @brief ENC03R Single Axis Gyro library
|
||||
* @defgroup enc03r libupm-enc03r
|
||||
* @ingroup seeed analog compass robok
|
||||
*/
|
||||
|
||||
/**
|
||||
* ENC03R sensor constructor
|
||||
* @library enc03r
|
||||
* @sensor enc03r
|
||||
* @comname ENC03R Single Axis Gyro
|
||||
* @altname Grove Single Axis Analog Gyro
|
||||
* @type compass
|
||||
* @man seeed
|
||||
* @con analog
|
||||
* @kit robok
|
||||
*
|
||||
* @param pin Analog pin to use
|
||||
* @param vref Reference voltage to use; default is 5.0 V
|
||||
*/
|
||||
ENC03R(int pin, float vref=5.0);
|
||||
|
||||
/**
|
||||
* ENC03R destructor
|
||||
*/
|
||||
~ENC03R();
|
||||
|
||||
/**
|
||||
* Calibrates the sensor by determining an analog reading over many
|
||||
* samples with no movement of the sensor. This must be done
|
||||
* before attempting to use the sensor.
|
||||
* @brief API for the ENC03R Single Axis Analog Gyro
|
||||
*
|
||||
* @param samples Number of samples to use for calibration
|
||||
*/
|
||||
void calibrate(unsigned int samples);
|
||||
|
||||
/**
|
||||
* Returns the raw value of the sensor
|
||||
* UPM module for the ENC03R single axis analog gyro.
|
||||
* This gyroscope measures x-axis angular velocity, that is
|
||||
* how fast the sensor is rotating around the x-axis.
|
||||
* Calibration of the sensor is necessary for accurate readings.
|
||||
*
|
||||
* @return Raw value of the sensor
|
||||
* @image html enc03r.jpg
|
||||
* @snippet enc03r.cxx Interesting
|
||||
*/
|
||||
unsigned int value();
|
||||
class ENC03R {
|
||||
public:
|
||||
|
||||
/**
|
||||
* Returns the currently stored calibration value
|
||||
*
|
||||
* @return Current calibration value
|
||||
*/
|
||||
float calibrationValue() { return m_calibrationValue; };
|
||||
/**
|
||||
* ENC03R sensor constructor
|
||||
*
|
||||
* @param pin Analog pin to use
|
||||
* @param vref Reference voltage to use; default is 5.0 V
|
||||
*/
|
||||
ENC03R(int pin, float aref=5.0);
|
||||
|
||||
/**
|
||||
* Computes angular velocity based on the value and stored calibration
|
||||
* reference.
|
||||
*
|
||||
* @param val Value to use to compute angular velocity
|
||||
* @return Computed angular velocity
|
||||
*/
|
||||
double angularVelocity(unsigned int val);
|
||||
/**
|
||||
* ENC03R destructor
|
||||
*/
|
||||
~ENC03R();
|
||||
|
||||
private:
|
||||
// determined by calibrate();
|
||||
float m_calibrationValue;
|
||||
/**
|
||||
* Calibrates the sensor by determining an analog reading over many
|
||||
* samples with no movement of the sensor. This must be done
|
||||
* before attempting to use the sensor.
|
||||
*
|
||||
* @param samples Number of samples to use for calibration
|
||||
*/
|
||||
void calibrate(unsigned int samples);
|
||||
|
||||
// reference voltage
|
||||
float m_vref;
|
||||
mraa_aio_context m_aio;
|
||||
};
|
||||
/**
|
||||
* Update the internal state with the current reading. This
|
||||
* function must be called prior to calling
|
||||
* angularVelocity().
|
||||
*
|
||||
* @param dev Device context
|
||||
*/
|
||||
void update();
|
||||
|
||||
/**
|
||||
* Returns the currently stored calibration value
|
||||
*
|
||||
* @return Current calibration value
|
||||
*/
|
||||
float calibrationValue() { return enc03r_calibration_value(m_enc03r); };
|
||||
|
||||
/**
|
||||
* Computes angular velocity based on the value and stored calibration
|
||||
* reference.
|
||||
*
|
||||
* @param val Value to use to compute angular velocity
|
||||
* @return Computed angular velocity
|
||||
*/
|
||||
float angularVelocity();
|
||||
|
||||
/**
|
||||
* Set sensor offset. The offste is applied to the return value
|
||||
* before scaling. Default is 0.
|
||||
*
|
||||
* @param scale Scale to apply to value
|
||||
*/
|
||||
void setOffset(float offset);
|
||||
|
||||
/**
|
||||
* Set sensor scale. The return value is scaled by this value
|
||||
* before the offset is applied. Default is 1.0.
|
||||
*
|
||||
* @param dev Device context
|
||||
* @param scale Offset to apply to value
|
||||
*/
|
||||
void setScale(float scale);
|
||||
|
||||
/**
|
||||
* Get a normalized ADC value from the sensor. The return
|
||||
* value will be between 0.0 (indicating no voltage) and 1.0
|
||||
* indicating max voltage (aref). update() must be called
|
||||
* prior to calling this function.
|
||||
*
|
||||
* @return The normalized reading from the ADC.
|
||||
*/
|
||||
float getNormalized();
|
||||
|
||||
protected:
|
||||
enc03r_context m_enc03r;
|
||||
|
||||
private:
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user