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ADXL345: Make some changes in cpp interface
Signed-off-by: Adelin Dobre <adelin.dobre@rinftech.com>
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93622b0323
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@ -29,6 +29,8 @@
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#include <utility>
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#include "math.h"
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#include "adxl345.hpp"
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#include "upm_string_parser.hpp"
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#define READ_BUFFER_LENGTH 6
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@ -88,15 +90,10 @@
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using namespace upm;
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static bool operator!(mraa::MraaIo &mraaIo)
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{
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return mraaIo.getMraaDescriptors() == NULL;
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}
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Adxl345::Adxl345(int bus) : m_i2c(new mraa::I2c(bus))
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Adxl345::Adxl345(int bus) : m_i2c(bus)
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{
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//init bus and reset chip
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if ( m_i2c->address(ADXL345_I2C_ADDR) != mraa::SUCCESS ){
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if ( m_i2c.address(ADXL345_I2C_ADDR) != mraa::SUCCESS ){
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": i2c.address() failed");
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return;
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@ -104,7 +101,7 @@ Adxl345::Adxl345(int bus) : m_i2c(new mraa::I2c(bus))
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m_buffer[0] = ADXL345_POWER_CTL;
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m_buffer[1] = ADXL345_POWER_ON;
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if( m_i2c->write(m_buffer, 2) != mraa::SUCCESS){
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if( m_i2c.write(m_buffer, 2) != mraa::SUCCESS){
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throw std::runtime_error(std::string(__FUNCTION__) +
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": i2c.write() control register failed");
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return;
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@ -112,7 +109,7 @@ Adxl345::Adxl345(int bus) : m_i2c(new mraa::I2c(bus))
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m_buffer[0] = ADXL345_DATA_FORMAT;
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m_buffer[1] = ADXL345_16G | ADXL345_FULL_RES;
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if( m_i2c->write(m_buffer, 2) != mraa::SUCCESS){
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if( m_i2c.write(m_buffer, 2) != mraa::SUCCESS){
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throw std::runtime_error(std::string(__FUNCTION__) +
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": i2c.write() mode register failed");
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return;
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@ -128,21 +125,25 @@ Adxl345::Adxl345(int bus) : m_i2c(new mraa::I2c(bus))
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Adxl345::update();
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}
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Adxl345::Adxl345(std::string initStr) : mraaIo(initStr)
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Adxl345::Adxl345(std::string initStr) : m_i2c(nullptr), mraaIo(initStr)
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{
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if(!mraaIo.i2cs.empty())
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{
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m_i2c = &mraaIo.i2cs[0];
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mraa_io_descriptor* descs = mraaIo.getMraaDescriptors();
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std::vector<std::string> upmTokens;
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if(!mraaIo.getLeftoverStr().empty()) {
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upmTokens = UpmStringParser::parse(mraaIo.getLeftoverStr());
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}
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else
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{
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if(!descs->i2cs) {
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_i2c_init() failed");
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": mraa_i2c_init() failed");
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} else {
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m_i2c = descs->i2cs[0];
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}
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m_buffer[0] = ADXL345_POWER_CTL;
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m_buffer[1] = ADXL345_POWER_ON;
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if( m_i2c->write(m_buffer, 2) != mraa::SUCCESS ){
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if( m_i2c.write(m_buffer, 2) != mraa::SUCCESS ){
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throw std::runtime_error(std::string(__FUNCTION__) +
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": i2c.write() control register failed");
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return;
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@ -150,7 +151,7 @@ Adxl345::Adxl345(std::string initStr) : mraaIo(initStr)
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m_buffer[0] = ADXL345_DATA_FORMAT;
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m_buffer[1] = ADXL345_16G | ADXL345_FULL_RES;
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if( m_i2c->write(m_buffer, 2) != mraa::SUCCESS){
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if( m_i2c.write(m_buffer, 2) != mraa::SUCCESS){
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throw std::runtime_error(std::string(__FUNCTION__) +
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": i2c.write() mode register failed");
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return;
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@ -168,8 +169,6 @@ Adxl345::Adxl345(std::string initStr) : mraaIo(initStr)
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Adxl345::~Adxl345()
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{
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if(!mraaIo)
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delete m_i2c;
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}
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float*
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@ -192,9 +191,9 @@ Adxl345::getScale(){
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uint8_t result;
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m_i2c->writeByte(ADXL345_DATA_FORMAT);
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m_i2c.writeByte(ADXL345_DATA_FORMAT);
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result = m_i2c->readByte();
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result = m_i2c.readByte();
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return pow(2, (result & 0x03) + 1);
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}
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@ -202,9 +201,9 @@ Adxl345::getScale(){
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mraa::Result
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Adxl345::update(void)
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{
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m_i2c->writeByte(ADXL345_XOUT_L);
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m_i2c.writeByte(ADXL345_XOUT_L);
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m_i2c->read(m_buffer, DATA_REG_SIZE);
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m_i2c.read(m_buffer, DATA_REG_SIZE);
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// x
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m_rawaccel[0] = ((m_buffer[1] << 8 ) | m_buffer[0]);
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@ -114,7 +114,7 @@ private:
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float m_offsets[3];
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int16_t m_rawaccel[3];
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uint8_t m_buffer[READ_BUFFER_LENGTH];
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mraa::I2c* m_i2c = NULL;
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mraa::I2c m_i2c;
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mraa::MraaIo mraaIo;
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};
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