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>

src/adxl335/CMakeLists.txt

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+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

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+/*
+ * 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

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+%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

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