diff options
Diffstat (limited to 'peripheral/libupm/src/wheelencoder')
6 files changed, 0 insertions, 284 deletions
diff --git a/peripheral/libupm/src/wheelencoder/CMakeLists.txt b/peripheral/libupm/src/wheelencoder/CMakeLists.txt deleted file mode 100644 index 9528920..0000000 --- a/peripheral/libupm/src/wheelencoder/CMakeLists.txt +++ /dev/null @@ -1,5 +0,0 @@ -set (libname "wheelencoder") -set (libdescription "upm DFRobot wheelencoder") -set (module_src ${libname}.cxx) -set (module_h ${libname}.h) -upm_module_init() diff --git a/peripheral/libupm/src/wheelencoder/javaupm_wheelencoder.i b/peripheral/libupm/src/wheelencoder/javaupm_wheelencoder.i deleted file mode 100644 index 2b29f35..0000000 --- a/peripheral/libupm/src/wheelencoder/javaupm_wheelencoder.i +++ /dev/null @@ -1,19 +0,0 @@ -%module javaupm_wheelencoder -%include "../upm.i" - -%{ - #include "wheelencoder.h" -%} - -%include "wheelencoder.h" - -%pragma(java) jniclasscode=%{ - static { - try { - System.loadLibrary("javaupm_wheelencoder"); - } catch (UnsatisfiedLinkError e) { - System.err.println("Native code library failed to load. \n" + e); - System.exit(1); - } - } -%}
\ No newline at end of file diff --git a/peripheral/libupm/src/wheelencoder/jsupm_wheelencoder.i b/peripheral/libupm/src/wheelencoder/jsupm_wheelencoder.i deleted file mode 100644 index ded5481..0000000 --- a/peripheral/libupm/src/wheelencoder/jsupm_wheelencoder.i +++ /dev/null @@ -1,8 +0,0 @@ -%module jsupm_wheelencoder -%include "../upm.i" - -%{ - #include "wheelencoder.h" -%} - -%include "wheelencoder.h" diff --git a/peripheral/libupm/src/wheelencoder/pyupm_wheelencoder.i b/peripheral/libupm/src/wheelencoder/pyupm_wheelencoder.i deleted file mode 100644 index 9cfab7e..0000000 --- a/peripheral/libupm/src/wheelencoder/pyupm_wheelencoder.i +++ /dev/null @@ -1,11 +0,0 @@ -// Include doxygen-generated documentation -%include "pyupm_doxy2swig.i" -%module pyupm_wheelencoder -%include "../upm.i" - -%feature("autodoc", "3"); - -%include "wheelencoder.h" -%{ - #include "wheelencoder.h" -%} diff --git a/peripheral/libupm/src/wheelencoder/wheelencoder.cxx b/peripheral/libupm/src/wheelencoder/wheelencoder.cxx deleted file mode 100644 index ae48c1d..0000000 --- a/peripheral/libupm/src/wheelencoder/wheelencoder.cxx +++ /dev/null @@ -1,109 +0,0 @@ -/* - * 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> - -#ifdef JAVACALLBACK -#undef JAVACALLBACK -#endif -#include "wheelencoder.h" - -using namespace upm; -using namespace std; - -WheelEncoder::WheelEncoder(int pin) : - m_gpio(pin) -{ - m_gpio.dir(mraa::DIR_IN); - - initClock(); - m_counter = 0; - m_isrInstalled = false; -} - -WheelEncoder::~WheelEncoder() -{ - stopCounter(); -} - -void WheelEncoder::initClock() -{ - gettimeofday(&m_startTime, NULL); -} - -uint32_t WheelEncoder::getMillis() -{ - struct timeval elapsed, now; - uint32_t elapse; - - // get current time - gettimeofday(&now, NULL); - - // compute the delta since m_startTime - if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 ) - { - elapsed.tv_usec += 1000000; - elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1; - } - else - { - elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec; - } - - elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000)); - - // never return 0 - if (elapse == 0) - elapse = 1; - - return elapse; -} - -void WheelEncoder::startCounter() -{ - initClock(); - m_counter = 0; - - // install our interrupt handler - if (!m_isrInstalled) - m_gpio.isr(mraa::EDGE_RISING, &wheelISR, this); - - m_isrInstalled = true; -} - -void WheelEncoder::stopCounter() -{ - // remove the interrupt handler - if (m_isrInstalled) - m_gpio.isrExit(); - - m_isrInstalled = false; -} - -void WheelEncoder::wheelISR(void *ctx) -{ - upm::WheelEncoder *This = (upm::WheelEncoder *)ctx; - This->m_counter++; -} - diff --git a/peripheral/libupm/src/wheelencoder/wheelencoder.h b/peripheral/libupm/src/wheelencoder/wheelencoder.h deleted file mode 100644 index 17356e0..0000000 --- a/peripheral/libupm/src/wheelencoder/wheelencoder.h +++ /dev/null @@ -1,132 +0,0 @@ -/* - * 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.hpp> - -namespace upm { - - /** - * @brief DFRobot Wheel Encoder library - * @defgroup wheelencoder libupm-wheelencoder - * @ingroup dfrobot gpio other - */ - - /** - * @library wheelencoder - * @sensor wheelencoder - * @comname DFRobot Wheel Encoder - * @type other - * @man dfrobot - * @web http://www.dfrobot.com/index.php?route=product/product&product_id=98 - * @con gpio - - * @brief API for the DFRobot Wheel Encoder - * - * This sensor was developed for the DFRobot Wheel Encoder, though - * it could be used for any counting time-based task. - * - * When you instantiate a class of this type, the gpio pin specified - * is connected to an interrupt. Whenever a low to high transition - * occurs on the gpio pin, the internal counter is incremented by - * one. - * - * This class also includes a millisecond counter, so that you can - * correlate the number of counts to a time period for calculating - * an RPM or other value as needed. - * - * @image html wheelencoder.jpg - * @snippet wheelencoder.cxx Interesting - */ - class WheelEncoder { - public: - - /** - * DFRobot Wheel Encoder sensor constructor - * - * @param pin Digital pin to use - */ - WheelEncoder(int pin); - - /** - * WheelEncoder destructor - */ - ~WheelEncoder(); - - /** - * Returns the number of milliseconds elapsed since initClock() - * was last called. - * - * @return Elapsed milliseconds - */ - uint32_t getMillis(); - - /** - * Resets the clock - * - */ - void initClock(); - - /** - * Resets the counter to 0. The counter should be - * stopped via stopCounter() prior to calling this function. - * - */ - void clearCounter() { m_counter = 0; }; - - /** - * Starts the counter. This function will also clear the current - * count and reset the clock. - * - */ - void startCounter(); - - /** - * Stops the counter - * - */ - void stopCounter(); - - /** - * Gets the current counter value - * - * @return counter value - */ - uint32_t counter() { return m_counter; }; - - protected: - mraa::Gpio m_gpio; - static void wheelISR(void *ctx); - - private: - volatile uint32_t m_counter; - struct timeval m_startTime; - bool m_isrInstalled; - }; -} - - |