adxl345: Grove 3-Axis Accelerometer

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/CMakeLists.txt

@@ -77,6 +77,7 @@ add_executable (biss0001-example biss0001.cxx)
 add_executable (my9221-example my9221.cxx)
 add_executable (grove_mcfled-example grove_mcfled.cxx)
 add_executable (rotaryencoder-example rotaryencoder.cxx)
+add_executable (adxl345-example adxl345.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -140,6 +141,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/rfr359f)
 include_directories (${PROJECT_SOURCE_DIR}/src/biss0001)
 include_directories (${PROJECT_SOURCE_DIR}/src/my9221)
 include_directories (${PROJECT_SOURCE_DIR}/src/rotaryencoder)
+include_directories (${PROJECT_SOURCE_DIR}/src/adxl345)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -220,3 +222,4 @@ target_link_libraries (biss0001-example biss0001 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (my9221-example my9221 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (grove_mcfled-example grove ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (rotaryencoder-example rotaryencoder ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (adxl345-example adxl345 ${CMAKE_THREAD_LIBS_INIT})

examples/adxl345.cxx

@@ -0,0 +1,51 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.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.
+ */
+
+#include <unistd.h>
+#include "adxl345.h"
+
+int
+main(int argc, char **argv)
+{
+//! [Interesting]
+    int16_t *raw;
+    float *acc;
+
+    // Note: Sensor only works at 3.3V on the Intel Edison with Arduino breakout
+    upm::Adxl345* accel = new upm::Adxl345(0);
+
+    while(true){
+        accel->update(); // Update the data
+        raw = accel->getRawValues(); // Read raw sensor data
+        acc = accel->getAcceleration(); // Read acceleration (g)
+        fprintf(stdout, "Current scale: 0x%2xg\n", accel->getScale());
+        fprintf(stdout, "Raw: %6d %6d %6d\n", raw[0], raw[1], raw[2]);
+        fprintf(stdout, "AccX: %5.2f g\n", acc[0]);
+        fprintf(stdout, "AccY: %5.2f g\n", acc[1]);
+        fprintf(stdout, "AccZ: %5.2f g\n", acc[2]);
+        sleep(1);
+    }
+//! [Interesting]
+    return 0;
+}

examples/javascript/adxl345.js

@@ -0,0 +1,41 @@
+/*
+* Author: Mihai Tudor Panu <mihai.tudor.panu@intel.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.
+*/
+
+// Load accelerometer
+var adxl345 = require('jsupm_adxl345');
+
+// Instantiate on I2C bus
+var adxl = new adxl345.Adxl345(0);
+
+setInterval(function()
+{
+    adxl.update(); // Update the data
+    var raw = adxl.getRawValues(); // Read raw sensor data
+    var force = adxl.getAcceleration(); // Read acceleration force (g)
+    var rawvalues = raw.getitem(0) + " " + raw.getitem(1) + " " + raw.getitem(2);
+    console.log("Raw Values: " + rawvalues);
+    console.log("ForceX: " + force.getitem(0).toFixed(2) + " g");
+    console.log("ForceY: " + force.getitem(1).toFixed(2) + " g");
+    console.log("ForceZ: " + force.getitem(2).toFixed(2) + " g");
+}, 1000);

examples/python/adxl345.py

@@ -0,0 +1,41 @@
+# Author: Mihai Tudor Panu <mihai.tudor.panu@intel.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.
+
+from time import sleep
+import pyupm_adxl345 as adxl345
+
+# Create an I2C accelerometer object
+adxl = adxl345.Adxl345(0)
+
+# Loop indefinitely
+while True:
+
+    adxl.update() # Update the data
+    raw = adxl.getRawValues() # Read raw sensor data
+    force = adxl.getAcceleration() # Read acceleration force (g)
+    print "Raw: %6d %6d %6d" % (raw[0], raw[1], raw[2])
+    print "ForceX: %5.2f g" % (force[0])
+    print "ForceY: %5.2f g" % (force[1])
+    print "ForceZ: %5.2f g\n" % (force[2])
+
+    # Sleep for 1 s
+    sleep(1)

src/adxl345/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "adxl345")
+set (libdescription "libupm Digital Accelerometer")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/adxl345/adxl345.cxx

@@ -0,0 +1,164 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.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.
+ */
+
+#include <iostream>
+#include <unistd.h>
+#include "math.h"
+#include "adxl345.h"
+
+#define READ_BUFFER_LENGTH 6
+
+//address and id
+#define ADXL345_I2C_ADDR 0x53
+#define ADXL345_ID 0x00
+
+//control registers
+#define ADXL345_OFSX 0x1E
+#define ADXL345_OFSY 0x1F
+#define ADXL345_OFSZ 0x20
+#define ADXL345_TAP_THRESH 0x1D
+#define ADXL345_TAP_DUR 0x21
+#define ADXL345_TAP_LATENCY 0x22
+#define ADXL345_ACT_THRESH 0x24
+#define ADXL345_INACT_THRESH 0x25
+#define ADXL345_INACT_TIME 0x26
+#define ADXL345_INACT_ACT_CTL 0x27
+#define ADXL345_FALL_THRESH 0x28
+#define ADXL345_FALL_TIME 0x29
+#define ADXL345_TAP_AXES 0x2A
+#define ADXL345_ACT_TAP_STATUS 0x2B
+
+//interrupt registers
+#define ADXL345_INT_ENABLE 0x2E
+#define ADXL345_INT_MAP 0x2F
+#define ADXL345_INT_SOURCE 0x30
+
+//data registers (read only)
+#define ADXL345_XOUT_L 0x32
+#define ADXL345_XOUT_H 0x33
+#define ADXL345_YOUT_L 0x34
+#define ADXL345_YOUT_H 0x35
+#define ADXL345_ZOUT_L 0x36
+#define ADXL345_ZOUT_H 0x37
+#define DATA_REG_SIZE 6
+
+//data and power management
+#define ADXL345_BW_RATE 0x2C
+#define ADXL345_POWER_CTL 0x2D
+#define ADXL345_DATA_FORMAT 0x31
+#define ADXL345_FIFO_CTL 0x38
+#define ADXL345_FIFO_STATUS 0x39
+
+//useful values
+#define ADXL345_POWER_ON 0x08
+#define ADXL345_AUTO_SLP 0x30
+#define ADXL345_STANDBY 0x00
+
+//scales and resolution
+#define ADXL345_FULL_RES 0x08
+#define ADXL345_10BIT 0x00
+#define ADXL345_2G 0x00
+#define ADXL345_4G 0x01
+#define ADXL345_8G 0x02
+#define ADXL345_16G 0x03
+
+using namespace upm;
+
+Adxl345::Adxl345(int bus)
+{
+    //init bus and reset chip
+    m_i2c = mraa_i2c_init(bus);
+
+    mraa_i2c_address(m_i2c, ADXL345_I2C_ADDR);
+    m_buffer[0] = ADXL345_POWER_CTL;
+    m_buffer[1] = ADXL345_POWER_ON;
+    mraa_i2c_write(m_i2c, m_buffer, 2);
+
+    mraa_i2c_address(m_i2c, ADXL345_I2C_ADDR);
+    m_buffer[0] = ADXL345_DATA_FORMAT;
+    m_buffer[1] = ADXL345_16G | ADXL345_FULL_RES;
+    mraa_i2c_write(m_i2c, m_buffer, 2);
+
+    //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()
+{
+    mraa_i2c_stop(m_i2c);
+}
+
+float*
+Adxl345::getAcceleration()
+{
+    for(int i = 0; i < 3; i++){
+        m_accel[i] = m_rawaccel[i] * m_offsets[i];
+    }
+    return &m_accel[0];
+}
+
+int16_t*
+Adxl345::getRawValues()
+{
+    return &m_rawaccel[0];
+}
+
+uint8_t
+Adxl345::getScale(){
+
+    uint8_t result;
+
+    mraa_i2c_address(m_i2c, ADXL345_I2C_ADDR);
+    mraa_i2c_write_byte(m_i2c, ADXL345_DATA_FORMAT);
+
+    mraa_i2c_address(m_i2c, ADXL345_I2C_ADDR);
+    result = mraa_i2c_read_byte(m_i2c);
+
+    return pow(2, (result & 0x03) + 1);
+}
+
+mraa_result_t
+Adxl345::update(void)
+{
+    mraa_i2c_address(m_i2c, ADXL345_I2C_ADDR);
+    mraa_i2c_write_byte(m_i2c, ADXL345_XOUT_L);
+
+    mraa_i2c_address(m_i2c, ADXL345_I2C_ADDR);
+    mraa_i2c_read(m_i2c, m_buffer, DATA_REG_SIZE);
+
+    // x
+    m_rawaccel[0] = ((m_buffer[1] << 8 ) | m_buffer[0]);
+    // y
+    m_rawaccel[1] = ((m_buffer[3] << 8 ) | m_buffer[2]);
+    // z
+    m_rawaccel[2] = ((m_buffer[5] << 8 ) | m_buffer[4]);
+
+    return MRAA_SUCCESS;
+}

src/adxl345/adxl345.h

@@ -0,0 +1,99 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.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 <mraa/i2c.h>
+
+#define READ_BUFFER_LENGTH 6
+
+namespace upm {
+
+/**
+ * @brief Adxl345 accelerometer library
+ * @defgroup adxl345 libupm-adxl345
+ */
+
+/**
+ * @brief C++ API for Adxl345 (3-axis digital accelerometer)
+ *
+ * The Adxl345 is a 3-axis digital accelerometer.
+ * (http://www.seeedstudio.com/wiki/images/2/2c/ADXL345_datasheet.pdf)
+ * The sensor has configurable resolutions for measuring ±2g, ±4g, ±8g or ±16g.
+ * Note that the sensor it is incompatible and will not be detected on the I2C bus
+ * by the Intel Edison using the Arduino breakout board at 5V (3V3 will work fine).
+ *
+ * @ingroup adxl345 i2c
+ * @snippet adxl345.cxx Interesting
+ * @image html adxl345.jpeg
+ */
+class Adxl345 {
+public:
+    /**
+     * Creates an Adxl345 object
+     *
+     * @param bus number of used i2c bus
+     */
+    Adxl345(int bus);
+
+    /**
+     * Adxl345 object destructor
+     */
+    ~Adxl345();
+
+    /**
+     * Returns a pointer to a float[3] that contains acceleration (g) forces
+     *
+     * @return float* to a float[3]
+     */
+    float* getAcceleration();
+
+    /**
+     * Returns a pointer to an int[3] that contains the raw register values for X, Y and Z
+     *
+     * @return int* to an int[3]
+     */
+    int16_t* getRawValues();
+
+    /**
+     * Returns the scale the accelerometer is currently set up to: 2, 4, 8 or 16
+     *
+     * @return uint with current scale value
+     */
+    uint8_t getScale();
+
+    /**
+     * Updates the acceleration values from i2c bus
+     *
+     * @return 0 for success
+     */
+    mraa_result_t update();
+private:
+    float m_accel[3];
+    float m_offsets[3];
+    int16_t m_rawaccel[3];
+    uint8_t m_buffer[READ_BUFFER_LENGTH];
+    mraa_i2c_context m_i2c;
+};
+
+}

src/adxl345/jsupm_adxl345.i

@@ -0,0 +1,20 @@
+%module jsupm_adxl345
+%include "../upm.i"
+%include "../carrays_int16_t.i"
+%include "../carrays_float.i"
+
+%{
+    #include "adxl345.h"
+%}
+
+%typemap(out) int16_t * {
+    $result = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int16Array, 0 | 0 );
+}
+
+%typemap(out) float * {
+    $result = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_floatArray, 0 | 0 );
+}
+
+%include "adxl345.h"
+
+%include <carrays.i>

src/adxl345/pyupm_adxl345.i

@@ -0,0 +1,23 @@
+%module pyupm_adxl345
+%include "../upm.i"
+%include "../carrays_int16_t.i"
+%include "../carrays_float.i"
+
+%typemap(out) int16_t * {
+    $result = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int16Array, 0 | 0 );
+}
+
+%typemap(out) float * {
+    $result = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_floatArray, 0 | 0 );
+}
+
+%feature("autodoc", "3");
+
+#ifdef DOXYGEN
+%include "adxl345_doc.i"
+#endif
+
+%include "adxl345.h"
+%{
+    #include "adxl345.h"
+%}