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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Adapted from the seeedstudio example
* https://github.com/Seeed-Studio/Accelerometer_ADXL335
*
* 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 <string>
#include <stdexcept>
#include "adxl335.hpp"
using namespace std;
using namespace upm;
ADXL335::ADXL335(int pinX, int pinY, int pinZ, float aref)
{
m_aref = aref;
m_zeroX = 0.0;
m_zeroY = 0.0;
m_zeroZ = 0.0;
if ( !(m_aioX = mraa_aio_init(pinX)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_aio_init(X) failed, invalid pin?");
return;
}
if ( !(m_aioY = mraa_aio_init(pinY)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_aio_init(Y) failed, invalid pin?");
return;
}
if ( !(m_aioZ = mraa_aio_init(pinZ)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_aio_init(Z) failed, invalid pin?");
return;
}
}
ADXL335::~ADXL335()
{
mraa_aio_close(m_aioX);
mraa_aio_close(m_aioY);
mraa_aio_close(m_aioZ);
}
void ADXL335::values(int *xVal, int *yVal, int *zVal)
{
*xVal = mraa_aio_read(m_aioX);
*yVal = mraa_aio_read(m_aioY);
*zVal = mraa_aio_read(m_aioZ);
}
#ifdef SWIGJAVA
int *ADXL335::values()
{
int *v = new int[3];
values(&v[0], &v[1], &v[2]);
return v;
}
#endif
void ADXL335::acceleration(float *xAccel, float *yAccel, float *zAccel)
{
int x, y, z;
float xVolts, yVolts, zVolts;
values(&x, &y, &z);
xVolts = float(x) * m_aref / 1024.0;
yVolts = float(y) * m_aref / 1024.0;
zVolts = float(z) * m_aref / 1024.0;
*xAccel = (xVolts - m_zeroX) / ADXL335_SENSITIVITY;
*yAccel = (yVolts - m_zeroY) / ADXL335_SENSITIVITY;
*zAccel = (zVolts - m_zeroZ) / ADXL335_SENSITIVITY;
}
#ifdef SWIGJAVA
float *ADXL335::acceleration()
{
float *v = new float[3];
acceleration(&v[0], &v[1], &v[2]);
return v;
}
#endif
void ADXL335::calibrate()
{
// make sure the sensor is still before running calibration.
int x, y, z;
usleep(10000);
values(&x, &y, &z);
setZeroX(float(x) * m_aref / 1024.0);
setZeroY(float(y) * m_aref / 1024.0);
setZeroZ(float(z) * m_aref / 1024.0);
}
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