diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 2e98276f..990fb11c 100644 --- a/examples/CMakeLists.txt +++ b/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}) diff --git a/examples/adxl335.cxx b/examples/adxl335.cxx new file mode 100644 index 00000000..471695d6 --- /dev/null +++ b/examples/adxl335.cxx @@ -0,0 +1,78 @@ +/* + * Author: Jon Trulson + * 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 +#include +#include +#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; +} diff --git a/examples/javascript/adxl335.js b/examples/javascript/adxl335.js new file mode 100644 index 00000000..7e110189 --- /dev/null +++ b/examples/javascript/adxl335.js @@ -0,0 +1,85 @@ +/*jslint node:true, vars:true, bitwise:true, unparam:true */ +/*jshint unused:true */ + +/* +* Author: Zion Orent +* 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); +}); diff --git a/src/adxl335/CMakeLists.txt b/src/adxl335/CMakeLists.txt new file mode 100644 index 00000000..02607677 --- /dev/null +++ b/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() diff --git a/src/adxl335/adxl335.cxx b/src/adxl335/adxl335.cxx new file mode 100644 index 00000000..7bffb7ad --- /dev/null +++ b/src/adxl335/adxl335.cxx @@ -0,0 +1,102 @@ +/* + * Author: Jon Trulson + * 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 + +#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); +} diff --git a/src/adxl335/adxl335.h b/src/adxl335/adxl335.h new file mode 100644 index 00000000..e7e464d7 --- /dev/null +++ b/src/adxl335/adxl335.h @@ -0,0 +1,119 @@ +/* + * Author: Jon Trulson + * 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 +#include + +#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; + }; +} + + diff --git a/src/adxl335/jsupm_adxl335.i b/src/adxl335/jsupm_adxl335.i new file mode 100644 index 00000000..852888ee --- /dev/null +++ b/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" diff --git a/src/adxl335/pyupm_adxl335.i b/src/adxl335/pyupm_adxl335.i new file mode 100644 index 00000000..e90416fb --- /dev/null +++ b/src/adxl335/pyupm_adxl335.i @@ -0,0 +1,9 @@ +%module pyupm_adxl335 +%include "../upm.i" + +%feature("autodoc", "3"); + +%include "adxl335.h" +%{ + #include "adxl335.h" +%}