adxl335: Initial implementation

The was tested with the Grove 3-Axis Analog Gyro.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>

examples/CMakeLists.txt

@@ -82,6 +82,7 @@ add_executable (rpr220-example rpr220.cxx)
 add_executable (rpr220-intr-example rpr220-intr.cxx)
 add_executable (mma7660-example mma7660.cxx)
 add_executable (cjq4435-example cjq4435.cxx)
+add_executable (adxl335-example adxl335.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -149,6 +150,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/adxl345)
 include_directories (${PROJECT_SOURCE_DIR}/src/rpr220)
 include_directories (${PROJECT_SOURCE_DIR}/src/mma7660)
 include_directories (${PROJECT_SOURCE_DIR}/src/cjq4435)
+include_directories (${PROJECT_SOURCE_DIR}/src/adxl335)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -234,3 +236,4 @@ target_link_libraries (rpr220-example rpr220 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (rpr220-intr-example rpr220 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (mma7660-example mma7660 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (cjq4435-example cjq4435 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (adxl335-example adxl335 ${CMAKE_THREAD_LIBS_INIT})

examples/adxl335.cxx

@@ -0,0 +1,78 @@
+/*
+ * 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 <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "adxl335.h"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main ()
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  // Instantiate an ADXL335 accelerometer on analog pins A0, A1, and A2
+  upm::ADXL335* accel = new upm::ADXL335(0, 1, 2);
+
+  cout << "Please make sure the sensor is completely still. Sleeping for"
+       << " 2 seconds." << endl;
+  sleep(2);
+  cout << "Calibrating..." << endl;
+
+  accel->calibrate();
+  
+  while (shouldRun)
+    {
+      int x, y, z;
+      float aX, aY, aZ;
+
+      accel->values(&x, &y, &z);
+      cout << "Raw Values: X: " << x << " Y: " << y << " Z: " << z << endl;
+
+      accel->acceleration(&aX, &aY, &aZ);
+      cout << "Acceleration: X: " << aX << "g" << endl;
+      cout << "Acceleration: Y: " << aY << "g" << endl;
+      cout << "Acceleration: Z: " << aZ << "g" << endl;
+      cout << endl;
+
+      usleep(200000);
+    }
+//! [Interesting]
+
+  cout << "Exiting" << endl;
+
+  delete accel;
+  return 0;
+}

examples/javascript/adxl335.js

@@ -0,0 +1,85 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+* Author: Zion Orent <zorent@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.
+*/
+
+var analogGyro3Axis = require("jsupm_adxl335");
+
+var g_addnumBool = true;
+var g_cycleNum = 0.0;
+var g_cycleCount = 0;
+
+// Instantiate an ADXL335 accelerometer on analog pins A0, A1, and A2
+var myAnalogGyro3Axis = new analogGyro3Axis.ADXL335(0, 1, 2);
+
+console.log("Please make sure the sensor is completely still.");
+console.log("Sleeping for 2 seconds");
+
+var g_myInterval;
+
+setTimeout(function()
+{
+	console.log("Calibrating...");
+	myAnalogGyro3Axis.calibrate();
+	// Get values from accelerometer every 0.2 seconds
+	g_myInterval = setInterval(runAccelerometer, 200);
+}, 2000);
+
+var x = new analogGyro3Axis.intPointer(0);
+var y = new analogGyro3Axis.intPointer(0);
+var z = new analogGyro3Axis.intPointer(0);
+
+var aX = new analogGyro3Axis.floatPointer(0);
+var aY = new analogGyro3Axis.floatPointer(0);
+var aZ = new analogGyro3Axis.floatPointer(0);
+
+var outputStr;
+
+function runAccelerometer()
+{
+
+	myAnalogGyro3Axis.values(x, y, z);
+	outputStr = "Raw Values: X: " + x.getitem(0) +
+		" Y: " + y.getitem(0) + 
+		" Z: " + z.getitem(0);
+	console.log(outputStr);
+
+
+	myAnalogGyro3Axis.acceleration(aX, aY, aZ);
+	console.log("Acceleration: X: " + aX.getitem(0) + "g");
+	console.log("Acceleration: Y: " + aY.getitem(0) + "g");
+	console.log("Acceleration: Z: " + aZ.getitem(0) + "g");
+
+	console.log(" ");
+}
+
+
+// When exiting: clear interval and print exit message
+process.on('SIGINT', function()
+{
+	clearInterval(g_myInterval);
+	console.log("Exiting...");
+	process.exit(0);
+});

src/adxl335/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "adxl335")
+set (libdescription "upm adxl335 grove 3-axis anaolog accelerometer")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/adxl335/adxl335.cxx

@@ -0,0 +1,102 @@
+/*
+ * 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 "adxl335.h"
+
+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)) )
+    {
+      cerr << __FUNCTION__ << ": mraa_aio_init(X) failed" << endl;
+      return;
+    }
+
+  if ( !(m_aioY = mraa_aio_init(pinY)) )
+    {
+      cerr << __FUNCTION__ << ": mraa_aio_init(Y) failed" << endl;
+      return;
+    }
+
+  if ( !(m_aioZ = mraa_aio_init(pinZ)) )
+    {
+      cerr << __FUNCTION__ << ": mraa_aio_init(Z) failed" << endl;
+      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);
+}
+
+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;
+}
+
+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);
+}

src/adxl335/adxl335.h

@@ -0,0 +1,119 @@
+/*
+ * 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.
+ */
+#pragma once
+
+#include <string>
+#include <mraa/aio.h>
+
+#define ADXL335_DEFAULT_AREF 5.0
+#define ADXL335_SENSITIVITY 0.25 // 0.25v/g
+
+namespace upm {
+
+  /**
+   * @brief C++ API for the ADXL335 3-axis analog acclerometer
+   *
+   * UPM module for the ADXL335 3-axis analog accelerometer.  This
+   * was tested on a Grove 3-axis Analog Accelerometer.  It uses 3
+   * analog pins, one each for X, Y, and Z axis.
+   *
+   * @ingroup grove analog
+   * @snippet adxl335.cxx Interesting
+   */
+  class ADXL335 {
+  public:
+    /**
+     * ADXL335 constructor
+     *
+     * @param pinX analog pin to use for axis X
+     * @param pinY analog pin to use for axis Y
+     * @param pinZ analog pin to use for axis Z
+     * @param aref analog voltage reference, default 5.0
+     */
+    ADXL335(int pinX, int pinY, int pinZ, float aref=ADXL335_DEFAULT_AREF);
+
+    /**
+     * ADXL335 Destructor
+     */
+    ~ADXL335();
+
+    /**
+     * Set the "zero" value of the X axis, determined through calibration
+     *
+     * @param zeroX  The "zero" value of the X axis
+     */
+    void setZeroX(float zeroX) { m_zeroX = zeroX; };
+
+    /**
+     * Set the "zero" value of the Y axis, determined through calibration
+     *
+     * @param zeroX  The "zero" value of the Y axis
+     */
+    void setZeroY(float zeroY) { m_zeroY = zeroY; };
+
+    /**
+     * Set the "zero" value of the Z axis, determined through calibration
+     *
+     * @param zeroX  The "zero" value of the Z axis
+     */
+    void setZeroZ(float zeroZ) { m_zeroZ = zeroZ; };
+
+    /**
+     * Get the analog values for the 3 axes
+     *
+     * @param xVal pointer to returned X value
+     * @param yVal pointer to returned Y value
+     * @param zVal pointer to returned Z value
+     */
+    void values(int *xVal, int *yVal, int *zVal);
+
+    /**
+     * Get the acceleration along all 3 axes
+     *
+     * @param xAccel pointer to returned X value
+     * @param yAccel pointer to returned Y value
+     * @param zAccel pointer to returned Z value
+     */
+    void acceleration(float *xAccel, float *yAccel, float *zAccel);
+
+    /**
+     * While the sensor is still, measure the X, Y, and Z values and
+     * use those values as our zero values.
+     *
+     */
+    void calibrate();
+
+  private:
+    mraa_aio_context m_aioX;
+    mraa_aio_context m_aioY;
+    mraa_aio_context m_aioZ;
+    float m_aref;
+    float m_zeroX, m_zeroY, m_zeroZ;
+  };
+}
+
+

src/adxl335/jsupm_adxl335.i

@@ -0,0 +1,13 @@
+%module jsupm_adxl335
+%include "../upm.i"
+%include "stdint.i"
+%include "carrays.i"
+
+%array_class(int, intPointer);
+%array_class(float, floatPointer);
+
+%{
+    #include "adxl335.h"
+%}
+
+%include "adxl335.h"

src/adxl335/pyupm_adxl335.i

@@ -0,0 +1,9 @@
+%module pyupm_adxl335
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "adxl335.h"
+%{
+    #include "adxl335.h"
+%}