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+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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/aio.h>
+
+namespace upm {
+
+  /**
+   * @brief ENC03R Single Axis Gyro library
+   * @defgroup enc03r libupm-enc03r
+   * @ingroup seeed analog compass robok
+   */
+
+  /**
+   * @library enc03r
+   * @sensor enc03r
+   * @comname ENC03R Single Axis Gyro
+   * @altname Grove Single Axis Analog Gyro
+   * @type compass
+   * @man seeed
+   * @con analog
+   * @kit robok
+   *
+   * @brief API for the ENC03R Single Axis Analog Gyro
+   *
+   * UPM module for the ENC03R single axis analog gyro.
+   * This gyroscope measures x-axis angular velocity, that is
+   * how fast the sensor is rotating around the x-axis.
+   * Calibration of the sensor is necessary for accurate readings.
+   *
+   * @image html enc03r.jpg 
+   * @snippet enc03r.cxx Interesting
+   */
+  class ENC03R {
+  public:
+
+    /**
+     * ENC03R sensor constructor
+     *
+     * @param pin Analog pin to use
+     * @param vref Reference voltage to use; default is 5.0 V
+     */
+    ENC03R(int pin, float vref=5.0);
+
+    /**
+     * ENC03R destructor
+     */
+    ~ENC03R();
+
+    /**
+     * Calibrates the sensor by determining an analog reading over many
+     * samples with no movement of the sensor. This must be done
+     * before attempting to use the sensor.
+     *
+     * @param samples Number of samples to use for calibration
+     */
+    void calibrate(unsigned int samples);
+    
+    /**
+     * Returns the raw value of the sensor
+     *
+     * @return Raw value of the sensor
+     */
+    unsigned int value();
+
+    /**
+     * Returns the currently stored calibration value
+     *
+     * @return Current calibration value
+     */
+    float calibrationValue() { return m_calibrationValue; };
+
+    /**
+     * Computes angular velocity based on the value and stored calibration
+     * reference.
+     *
+     * @param val Value to use to compute angular velocity
+     * @return Computed angular velocity
+     */
+    double angularVelocity(unsigned int val);
+
+  private:
+    // determined by calibrate();
+    float m_calibrationValue;
+
+    // reference voltage
+    float m_vref;
+    mraa_aio_context m_aio;
+  };
+}
+
+