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ADXL345: Add string based constructor

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Signed-off-by: Adelin Dobre <adelin.dobre@rinftech.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Adelin Dobre
2018-07-12 13:25:47 +03:00
committed by Mihai Tudor Panu
parent 56f4dd9a92
commit 48ecaeaea9
4 changed files with 77 additions and 17 deletions
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69
src/adxl345/adxl345.cxx
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@ -26,6 +26,7 @@
#include <string>
#include <stdexcept>
#include <unistd.h>
#include <utility>
#include "math.h"
#include "adxl345.hpp"
@ -87,10 +88,10 @@
using namespace upm;
Adxl345::Adxl345(int bus) : m_i2c(bus)
Adxl345::Adxl345(int bus) : m_i2c(new mraa::I2c(bus))
{
//init bus and reset chip
if ( m_i2c.address(ADXL345_I2C_ADDR) != mraa::SUCCESS ){
if ( m_i2c->address(ADXL345_I2C_ADDR) != mraa::SUCCESS ){
throw std::invalid_argument(std::string(__FUNCTION__) +
": i2c.address() failed");
return;
@ -98,7 +99,7 @@ Adxl345::Adxl345(int bus) : m_i2c(bus)
m_buffer[0] = ADXL345_POWER_CTL;
m_buffer[1] = ADXL345_POWER_ON;
if( m_i2c.write(m_buffer, 2) != mraa::SUCCESS){
if( m_i2c->write(m_buffer, 2) != mraa::SUCCESS){
throw std::runtime_error(std::string(__FUNCTION__) +
": i2c.write() control register failed");
return;
@ -106,7 +107,7 @@ Adxl345::Adxl345(int bus) : m_i2c(bus)
m_buffer[0] = ADXL345_DATA_FORMAT;
m_buffer[1] = ADXL345_16G | ADXL345_FULL_RES;
if( m_i2c.write(m_buffer, 2) != mraa::SUCCESS){
if( m_i2c->write(m_buffer, 2) != mraa::SUCCESS){
throw std::runtime_error(std::string(__FUNCTION__) +
": i2c.write() mode register failed");
return;
@ -122,6 +123,58 @@ Adxl345::Adxl345(int bus) : m_i2c(bus)
Adxl345::update();
}
Adxl345::Adxl345(std::string initStr) : mraaIo(new mraa::MraaIo(initStr))
{
if(mraaIo == NULL)
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": Failed to allocate memory for internal member");
}
if(!mraaIo->i2cs.empty())
{
m_i2c = &mraaIo->i2cs[0];
}
else
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_init() failed");
}
m_buffer[0] = ADXL345_POWER_CTL;
m_buffer[1] = ADXL345_POWER_ON;
if( m_i2c->write(m_buffer, 2) != mraa::SUCCESS){
throw std::runtime_error(std::string(__FUNCTION__) +
": i2c.write() control register failed");
return;
}
m_buffer[0] = ADXL345_DATA_FORMAT;
m_buffer[1] = ADXL345_16G | ADXL345_FULL_RES;
if( m_i2c->write(m_buffer, 2) != mraa::SUCCESS){
throw std::runtime_error(std::string(__FUNCTION__) +
": i2c.write() mode register failed");
return;
}
//2.5V sensitivity is 256 LSB/g = 0.00390625 g/bit
//3.3V x and y sensitivity is 265 LSB/g = 0.003773584 g/bit, z is the same
m_offsets[0] = 0.003773584;
m_offsets[1] = 0.003773584;
m_offsets[2] = 0.00390625;
Adxl345::update();
}
Adxl345::~Adxl345()
{
if(mraaIo != NULL)
delete mraaIo;
else
delete m_i2c;
}
float*
Adxl345::getAcceleration()
{
@ -157,9 +210,9 @@ Adxl345::getScale(){
uint8_t result;
m_i2c.writeByte(ADXL345_DATA_FORMAT);
m_i2c->writeByte(ADXL345_DATA_FORMAT);
result = m_i2c.readByte();
result = m_i2c->readByte();
return pow(2, (result & 0x03) + 1);
}
@ -167,9 +220,9 @@ Adxl345::getScale(){
mraa::Result
Adxl345::update(void)
{
m_i2c.writeByte(ADXL345_XOUT_L);
m_i2c->writeByte(ADXL345_XOUT_L);
m_i2c.read(m_buffer, DATA_REG_SIZE);
m_i2c->read(m_buffer, DATA_REG_SIZE);
// x
m_rawaccel[0] = ((m_buffer[1] << 8 ) | m_buffer[0]);