rpr220: Initial implementation

The module implements the RPR220 IR Reflective Sensor.  It was tested
with the Grove IR Reflective Sensor.

It includes 2 examples: rpr220.cxx, demonstrating the simple use case
of querying the current status.

rpr220-intr.cxx demonstrates the use of this class to register an
Interrupt Service Routine (ISR) to count transitions, which might be
more appropriate for some use cases, such as measuring RPM's.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/CMakeLists.txt

@@ -78,6 +78,8 @@ add_executable (my9221-example my9221.cxx)
 add_executable (grove_mcfled-example grove_mcfled.cxx)
 add_executable (rotaryencoder-example rotaryencoder.cxx)
 add_executable (adxl345-example adxl345.cxx)
+add_executable (rpr220-example rpr220.cxx)
+add_executable (rpr220-intr-example rpr220-intr.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -142,6 +144,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/biss0001)
 include_directories (${PROJECT_SOURCE_DIR}/src/my9221)
 include_directories (${PROJECT_SOURCE_DIR}/src/rotaryencoder)
 include_directories (${PROJECT_SOURCE_DIR}/src/adxl345)
+include_directories (${PROJECT_SOURCE_DIR}/src/rpr220)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -223,3 +226,5 @@ target_link_libraries (my9221-example my9221 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (grove_mcfled-example grove ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (rotaryencoder-example rotaryencoder ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (adxl345-example adxl345 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (rpr220-example rpr220 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (rpr220-intr-example rpr220 ${CMAKE_THREAD_LIBS_INIT})

examples/javascript/rpr220.js

@@ -0,0 +1,49 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+/*
+* Author: Zion Orent <zorent@ics.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.
+*/
+
+var reflectiveSensor = require("jsupm_rpr220");
+
+// This example uses a simple method to determine current status
+
+// Instantiate an RPR220 digital pin D2
+// This was tested on the Grove IR Reflective Sensor
+var myReflectiveSensor = new reflectiveSensor.RPR220(2);
+
+var myInterval = setInterval(function()
+{
+	if (myReflectiveSensor.blackDetected())
+		console.log("Black detected");
+	else
+		console.log("Black NOT detected");
+}, 100);
+
+// When exiting: clear interval and print message
+process.on('SIGINT', function()
+{
+	clearInterval(myInterval);
+	console.log("Exiting...");
+	process.exit(0);
+});

examples/rpr220-intr.cxx

@@ -0,0 +1,78 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.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 <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "rpr220.h"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+volatile unsigned int counter = 0;
+
+// Our interrupt handler
+void rprISR(void *arg)
+{
+  counter++;
+}
+
+
+int main()
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  // This example uses an interrupt handler to increment a counter
+  
+  // Instantiate an RPR220 digital pin D2
+  // This was tested on the Grove IR Reflective Sensor
+
+  upm::RPR220* rpr220 = new upm::RPR220(2);
+  
+  // Here, we setup our Interupt Service Routine (ISR) to count
+  // 'black' pulses detected.
+
+  rpr220->installISR(rprISR, NULL);
+
+  while (shouldRun)
+    {
+      cout << "Counter: " << counter << endl;
+
+      sleep(1);
+    }
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete rpr220;
+  return 0;
+}

examples/rpr220.cxx

@@ -0,0 +1,68 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.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 <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "rpr220.h"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main()
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  // This example uses a simple method to determine current status
+
+  // Instantiate an RPR220 digital pin D2
+  // This was tested on the Grove IR Reflective Sensor
+
+  upm::RPR220* rpr220 = new upm::RPR220(2);
+  
+  while (shouldRun)
+    {
+      if (rpr220->blackDetected())
+        cout << "Black detected" << endl;
+      else
+        cout << "Black NOT detected" << endl;
+
+      usleep(100000);           // 100ms
+    }
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete rpr220;
+  return 0;
+}

src/rpr220/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "rpr220")
+set (libdescription "upm rpr220 grove IR reflective sensor")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/rpr220/jsupm_rpr220.i

@@ -0,0 +1,8 @@
+%module jsupm_rpr220
+%include "../upm.i"
+
+%{
+    #include "rpr220.h"
+%}
+
+%include "rpr220.h"

src/rpr220/pyupm_rpr220.i

@@ -0,0 +1,9 @@
+%module pyupm_rpr220
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "rpr220.h"
+%{
+    #include "rpr220.h"
+%}

src/rpr220/rpr220.cxx

@@ -0,0 +1,74 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.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 <iostream>
+
+#include "rpr220.h"
+
+using namespace upm;
+using namespace std;
+
+RPR220::RPR220(int pin)
+{
+  m_isrInstalled = false;
+
+  if ( !(m_gpio = mraa_gpio_init(pin)) )
+   {
+      cerr << __FUNCTION__ << ": mraa_gpio_init() failed" << endl;
+      return;
+    }
+
+  mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
+}
+
+RPR220::~RPR220()
+{
+  if (m_isrInstalled)
+    uninstallISR();
+
+  mraa_gpio_close(m_gpio);
+}
+
+bool RPR220::blackDetected()
+{
+  return (mraa_gpio_read(m_gpio) ? true : false);
+}
+
+void RPR220::installISR(void (*isr)(void *), void *arg)
+{
+  if (m_isrInstalled)
+    uninstallISR();
+
+  // install our interrupt handler
+  mraa_gpio_isr(m_gpio, MRAA_GPIO_EDGE_RISING, 
+                isr, arg);
+  m_isrInstalled = true;
+}
+
+void RPR220::uninstallISR()
+{
+  mraa_gpio_isr_exit(m_gpio);
+  m_isrInstalled = false;
+}
+

src/rpr220/rpr220.h

@@ -0,0 +1,93 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.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 <string>
+#include <mraa/gpio.h>
+
+namespace upm {
+
+  /**
+   * @brief C++ API for the RPR220 based Grove IR Reflective Sensor. 
+   *
+   * UPM module for the Grove IR Reflective Sensor.  The sensitivity
+   * can be adjusted with the potentiometer on the sensor module.  It
+   * has a range of approximately 15mm, and a fast response time.
+   *
+   * It detects high contrast dark areas on a light background.
+   *
+   * This module allows the user to determine the current status
+   * (black detected or not).  Additionally, if desired, an Interrupt
+   * Service Routine (ISR) can be installed that will be called when
+   * black is detected.  Either method can be used, depending on your
+   * use case.
+
+   * @ingroup grove gpio
+   * @snippet rpr220.cxx Interesting
+   * @snippet rpr220-intr.cxx Interesting
+   */
+  class RPR220 {
+  public:
+    /**
+     * Grove IR Reflective Sensor constructor
+     *
+     * @param pin digital pin to use
+     */
+    RPR220(int pin);
+
+    /**
+     * RPR220 Destructor
+     */
+    ~RPR220();
+
+    /**
+     * Get the status of the pin, true means black detected
+     *
+     * @return true if the sensor is detecting black
+     */
+    bool blackDetected();
+
+    /**
+     * Install an Interrupt Service Routine (ISR) to be called when
+     * black is detected
+     *
+     * @param fptr function pointer to function to be called on interrupt
+     * @param arg pointer to an object that will be supplied as an
+     * arguement to the ISR.
+     */
+    void installISR(void (*isr)(void *), void *arg);
+
+    /**
+     * Uninstall the previously installed Interrupt Service Routine (ISR)
+     *
+     */
+    void uninstallISR();
+
+  private:
+    bool m_isrInstalled;
+    mraa_gpio_context m_gpio;
+  };
+}
+
+