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+/*
+ * 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 <iostream>
+#include <string>
+#include <mraa/aio.h>
+
+// EZ series is volts/512
+#define MAXSONAREZ_RES  512
+
+namespace upm {
+  /**
+   * @brief MaxSonar-EZ Family of Ultrasonic Rangers library
+   * @defgroup maxsonarez libupm-maxsonarez
+   * @ingroup seeed analog sound
+   */
+
+  /**
+   * @library maxsonarez
+   * @sensor maxsonarez
+   * @comname LV-MaxSonar-EZ Ultrasonic Ranger
+   * @altname EZ1, EZ2, EZ3, EZ4
+   * @type sound
+   * @man sparkfun
+   * @web https://www.sparkfun.com/products/8502
+   * @con analog
+   *
+   * @brief API for the LV-MaxSonar-EZ Family of Ultrasonic Rangers
+   *
+   * Sensors of this family return an analog voltage corresponding to the
+   * distance of an object from the sensor in inches. They have a
+   * resolution of about 9.7 millivolts per inch with an analog reference voltage of 5.0 V. The
+   * differences between various versions (EZ1, EZ2, etc.) are
+   * related to the narrowness of the beam angle.
+   *
+   * This class supports these sensors with an analog input only.
+   *
+   * This driver was developed using an LV-MaxSonar-EZ3 ultrasonic ranger.
+   *
+   * @image html maxsonarez.jpg
+   * <br><em>LV-MaxSonar-EZ Ultrasonic Ranger image provided by SparkFun* under
+   * <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/>
+   * CC BY-NC-SA-3.0</a>.</em>
+   *
+   * @snippet maxsonarez.cxx Interesting
+   */
+
+  class MAXSONAREZ {
+  public:
+
+    /**
+     * MAXSONAREZ constructor
+     *
+     * @param pin Analog pin to use
+     * @param aref Analog reference voltage; default is 5.0 V
+     */
+    MAXSONAREZ(int pin, float aref=5.0);
+
+    /**
+     * MAXSONAREZ destructor
+     */
+    ~MAXSONAREZ();
+
+    /**
+     * Gets the distance to the object in inches
+     *
+     * @return Distance to the object in inches
+     */
+    int inches();
+
+  private:
+    mraa_aio_context m_aio;
+    float m_aref;
+    // ADC resolution
+    int m_aRes;
+    // computed volts per inch
+    float m_vI;
+  };
+}
+
+