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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.
*/
#include <iostream>
#include "adxrs610.h"
using namespace std;
using namespace upm;
ADXRS610::ADXRS610(int dPin, int tPin, float aref) :
m_aioData(dPin), m_aioTemp(tPin)
{
// ADC resolution of data and temp should be the same...
m_aRes = (1 << m_aioData.getBit());
m_aref = aref;
setZeroPoint(calibrateZeroPoint());
setDeadband(0.0);
m_centerVolts = aref / 2.0;
}
ADXRS610::~ADXRS610()
{
}
float ADXRS610::getDataVolts()
{
int val = m_aioData.read();
return(float(val) * (m_aref / float(m_aRes)));
}
float ADXRS610::getTemperatureVolts()
{
int val = m_aioTemp.read();
return(float(val) * (m_aref / float(m_aRes)));
}
float ADXRS610::calibrateZeroPoint(unsigned int samples)
{
// The gyro should be in a stable, non-moving state
float sum = 0;
for (int i=0; i<samples; i++)
sum += getDataVolts();
return sum / samples;
}
float ADXRS610::getTemperature()
{
float tempV = getTemperatureVolts();
// nominal 2.5 volts at 25C
if (tempV > m_centerVolts)
return (m_temperatureNom + ((tempV - m_centerVolts) / m_temperatureCoeff));
else
return (m_temperatureNom - ((m_centerVolts - tempV) / m_temperatureCoeff));
}
float ADXRS610::getAngularVelocity()
{
float dataV = getDataVolts();
// check the deadband
if (dataV < (m_zeroPoint + m_deadband) &&
dataV > (m_zeroPoint - m_deadband))
return 0.0;
if (dataV > m_zeroPoint)
return ((dataV - m_zeroPoint) / m_degreeCoeff);
else
return -((m_zeroPoint - dataV) / m_degreeCoeff);
}
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