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ADXRS610Gyroscope: 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 17:01:17 +03:00 committed by Mihai Tudor Panu
parent 48ecaeaea9
commit 87dc660bd6
2 changed files with 64 additions and 9 deletions
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58
src/adxrs610/adxrs610.cxx
View File

@ -24,39 +24,85 @@
#include <iostream>
#include "upm_string_parser.hpp"
#include "adxrs610.hpp"
using namespace std;
using namespace upm;
ADXRS610::ADXRS610(int dPin, int tPin, float aref) :
m_aioData(dPin), m_aioTemp(tPin)
m_aioData(new mraa::Aio(dPin)), m_aioTemp(new mraa::Aio(tPin))
{
// ADC resolution of data and temp should be the same...
m_aRes = (1 << m_aioData.getBit());
m_aRes = (1 << m_aioData->getBit());
m_aref = aref;
setZeroPoint(calibrateZeroPoint());
setDeadband(0.0);
m_centerVolts = aref / 2.0;
}
ADXRS610::ADXRS610(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->aios.empty())
{
m_aioData = &mraaIo->aios[0];
m_aioTemp = &mraaIo->aios[1];
}
else
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_init() failed");
}
std::vector<std::string> upmTokens;
if (!mraaIo->getLeftoverStr().empty()) {
upmTokens = UpmStringParser::parse(mraaIo->getLeftoverStr());
}
// ADC resolution of data and temp should be the same...
m_aref = 5.0;
m_aRes = (1 << m_aioData->getBit());
setZeroPoint(calibrateZeroPoint());
setDeadband(0.0);
for (std::string tok : upmTokens) {
if(tok.substr(0,5) == "aref:") {
m_aref = std::stof(tok.substr(5));
}
}
m_centerVolts = m_aref / 2.0;
}
ADXRS610::~ADXRS610()
{
if(mraaIo != NULL)
delete mraaIo;
else
{
delete m_aioData;
delete m_aioTemp;
}
}
float ADXRS610::getDataVolts()
{
int val = m_aioData.read();
int val = m_aioData->read();
return(float(val) * (m_aref / float(m_aRes)));
}
float ADXRS610::getTemperatureVolts()
{
int val = m_aioTemp.read();
int val = m_aioTemp->read();
return(float(val) * (m_aref / float(m_aRes)));
}
@ -75,7 +121,7 @@ float ADXRS610::calibrateZeroPoint(unsigned int 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));
@ -91,7 +137,7 @@ float ADXRS610::getAngularVelocity()
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

15
src/adxrs610/adxrs610.hpp
View File

@ -26,6 +26,7 @@
#include <iostream>
#include <string>
#include <mraa/aio.hpp>
#include <mraa/initio.hpp>
#include <interfaces/iGyroscope.hpp>
#include <interfaces/iTemperature.hpp>
@ -84,6 +85,13 @@ namespace upm {
*/
ADXRS610(int dPin, int tPin, float aref=5.0);
/**
* Instantiates ADXRS610 Gyroscope based on a given string.
*
* @param initStr string containing specific information for ADXRS610 initialization.
*/
ADXRS610(std::string initStr);
/**
* ADXRS610 destructor
*/
@ -128,7 +136,7 @@ namespace upm {
* (setZeroPoint()).
*
* @param samples the number of samples to take an average over.
* The default is 50.
* The default is 50.
* @return the average of the reading over samples times.
*/
float calibrateZeroPoint(unsigned int samples=50);
@ -167,8 +175,9 @@ namespace upm {
std::vector<float> getGyroscope();
protected:
mraa::Aio m_aioData;
mraa::Aio m_aioTemp;
mraa::Aio* m_aioData = NULL;
mraa::Aio* m_aioTemp = NULL;
mraa::MraaIo* mraaIo = NULL;
private:
float m_aref;