rotaryencoder: Initial implementation

This module implements supoort for the Grove Rotary Encoder, though it
should function with any Rotary Encoder utilizing two GPIOs.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>

examples/CMakeLists.txt

@@ -76,6 +76,7 @@ add_executable (rfr359f-example rfr359f.cxx)
 add_executable (biss0001-example biss0001.cxx)
 add_executable (my9221-example my9221.cxx)
 add_executable (grove_mcfled-example grove_mcfled.cxx)
+add_executable (rotaryencoder-example rotaryencoder.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -138,6 +139,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/grovespeaker)
 include_directories (${PROJECT_SOURCE_DIR}/src/rfr359f)
 include_directories (${PROJECT_SOURCE_DIR}/src/biss0001)
 include_directories (${PROJECT_SOURCE_DIR}/src/my9221)
+include_directories (${PROJECT_SOURCE_DIR}/src/rotaryencoder)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -217,3 +219,4 @@ target_link_libraries (rfr359f-example rfr359f ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (biss0001-example biss0001 ${CMAKE_THREAD_LIBS_INIT})
 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})

examples/javascript/rotaryencoder.js

@@ -0,0 +1,43 @@
+/*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 rotaryEncoder = require("jsupm_rotaryencoder");
+
+// Instantiate a Grove Rotary Encoder, using signal pins D2 and D3
+var myRotaryEncoder = new rotaryEncoder.RotaryEncoder(2, 3);
+
+var myInterval = setInterval(function()
+{
+	console.log("Position: " + myRotaryEncoder.position());
+}, 100);
+
+// When exiting: clear interval and print message
+process.on('SIGINT', function()
+{
+	clearInterval(myInterval);
+	console.log("Exiting...");
+	process.exit(0);
+});

examples/rotaryencoder.cxx

@@ -0,0 +1,61 @@
+/*
+ * 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 "rotaryencoder.h"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main()
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  // Instantiate a Grove Rotary Encoder, using signal pins D2 and D3
+  upm::RotaryEncoder* rotaryencoder = new upm::RotaryEncoder(2, 3);
+  
+  while (shouldRun)
+    {
+      cout << "Position: " << rotaryencoder->position() << endl;
+      usleep(100000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete rotaryencoder;
+  return 0;
+}

src/rotaryencoder/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "rotaryencoder")
+set (libdescription "upm grove rotary encoder module")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/rotaryencoder/jsupm_rotaryencoder.i

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

src/rotaryencoder/pyupm_rotaryencoder.i

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

src/rotaryencoder/rotaryencoder.cxx

@@ -0,0 +1,91 @@
+/*
+ * 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 "rotaryencoder.h"
+
+using namespace upm;
+using namespace std;
+
+RotaryEncoder::RotaryEncoder(int pinA, int pinB)
+{
+  if ( !(m_gpioA = mraa_gpio_init(pinA)) )
+    {
+      cerr << __FUNCTION__ << ": mraa_gpio_init() failed" << endl;
+      return;
+    }
+
+  mraa_gpio_dir(m_gpioA, MRAA_GPIO_IN);
+
+  if ( !(m_gpioB = mraa_gpio_init(pinB)) )
+    {
+      cerr << __FUNCTION__ << ": mraa_gpio_init() failed" << endl;
+      return;
+    }
+
+  mraa_gpio_dir(m_gpioB, MRAA_GPIO_IN);
+
+  m_position = 0;
+
+  // setup the ISR
+
+  // We would prefer to use MRAA_GPIO_EDGE_BOTH for better resolution,
+  // but that does not appear to be supported
+  mraa_gpio_isr(m_gpioA, MRAA_GPIO_EDGE_RISING, 
+                &signalAISR, this);
+}
+
+RotaryEncoder::~RotaryEncoder()
+{
+  mraa_gpio_isr_exit(m_gpioA);
+
+  mraa_gpio_close(m_gpioA);
+  mraa_gpio_close(m_gpioB);
+}
+
+void RotaryEncoder::initPosition(int count)
+{
+  m_position = count;
+}
+
+int RotaryEncoder::position()
+{
+  return m_position;
+}
+
+void RotaryEncoder::signalAISR(void *ctx)
+{
+  upm::RotaryEncoder *This = (upm::RotaryEncoder *)ctx;
+
+  if (mraa_gpio_read(This->m_gpioA))
+    {
+      if (mraa_gpio_read(This->m_gpioB))
+        This->m_position++;      // CW
+      else
+        This->m_position--;      // CCW
+    }
+}
+
+

src/rotaryencoder/rotaryencoder.h

@@ -0,0 +1,91 @@
+/*
+ * 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 <stdint.h>
+#include <sys/time.h>
+#include <mraa/gpio.h>
+
+namespace upm {
+
+  /**
+   * @brief C++ API for the Grove Rotary Encoder
+   *
+   * UPM module for the Grove Rotary Encoder.  A Rotary Encoder
+   * encodes a rotation signal into electronic pulses that can be used
+   * to measure rotation and direction.  It is useful in cases where a
+   * rotary knob is required, but using a potentiometer is not
+   * desireable.  A rotary encoder can turn a full 360 degrees+
+   * without a stop and does not place a resistive load on the
+   * circuit, as is the case with a potentiometer.
+   *
+   * This module maintains a position that is incremented or
+   * decremented according to the rotation on the encoder.
+   *
+   * @ingroup gpio 
+   * @snippet rotaryencoder.cxx Interesting
+   */
+  class RotaryEncoder {
+  public:
+    /**
+     * RotaryEncoder constructor
+     *
+     * @param pinA digital pin to use for signal A
+     * @param pinB digital pin to use for signal B
+     */
+    RotaryEncoder(int pinA, int pinB);
+    /**
+     * RotaryEncoder Destructor
+     */
+    ~RotaryEncoder();
+
+    /**
+     * Reset the position to a given number, default is 0. 
+     *
+     * @param count integer to initialize the position to
+     */
+    void initPosition(int count=0);
+
+    /**
+     * Get the position value
+     *
+     */
+    int position();
+
+    /**
+     * ISR for signal A
+     *
+     * @param ctx user context for the ISR (*this pointer)
+     */
+    static void signalAISR(void *ctx);
+
+  private:
+    volatile int m_position;
+    mraa_gpio_context m_gpioA;
+    mraa_gpio_context m_gpioB;
+  };
+}
+
+