enc03r.h

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/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2014-2017 Intel Corporation.
emacs . *
 * 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 <stdint.h>
#include <stdlib.h>
#include <unistd.h>

#include <mraa/aio.h>
#include <upm.h>

#ifdef __cplusplus
extern "C" {
#endif

    typedef struct _enc03r_context {
        mraa_aio_context aio;

        // determined by calibrate();
        float calibrationValue;

        // our computed value
        float angular_velocity;

        // analog reference voltage
        float a_ref;
        // analog ADC resolution (max value)
        float a_res;

        // offset
        float offset;

        // scale
        float scale;

        // normalized ADC value
        float normalized;

    } *enc03r_context;

    enc03r_context enc03r_init(int pin, float aref);

    void enc03r_close(enc03r_context dev);

    upm_result_t enc03r_update(enc03r_context dev);

    upm_result_t enc03r_calibrate(const enc03r_context dev,
                                  unsigned int samples);

    float enc03r_calibration_value(const enc03r_context dev);

    float enc03r_angular_velocity(const enc03r_context dev);

    void enc03r_set_offset(const enc03r_context dev, float offset);

    void enc03r_set_scale(const enc03r_context dev, float scale);

    float enc03r_get_normalized(const enc03r_context dev);

#ifdef __cplusplus
}
#endif