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b03676222c
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>
103 lines
2.8 KiB
C++
103 lines
2.8 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Adapted from the seeedstudio example
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* https://github.com/Seeed-Studio/Accelerometer_ADXL335
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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#include "adxl335.h"
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using namespace std;
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using namespace upm;
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ADXL335::ADXL335(int pinX, int pinY, int pinZ, float aref)
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{
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m_aref = aref;
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m_zeroX = 0.0;
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m_zeroY = 0.0;
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m_zeroZ = 0.0;
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if ( !(m_aioX = mraa_aio_init(pinX)) )
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{
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cerr << __FUNCTION__ << ": mraa_aio_init(X) failed" << endl;
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return;
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}
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if ( !(m_aioY = mraa_aio_init(pinY)) )
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{
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cerr << __FUNCTION__ << ": mraa_aio_init(Y) failed" << endl;
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return;
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}
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if ( !(m_aioZ = mraa_aio_init(pinZ)) )
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{
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cerr << __FUNCTION__ << ": mraa_aio_init(Z) failed" << endl;
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return;
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}
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}
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ADXL335::~ADXL335()
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{
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mraa_aio_close(m_aioX);
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mraa_aio_close(m_aioY);
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mraa_aio_close(m_aioZ);
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}
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void ADXL335::values(int *xVal, int *yVal, int *zVal)
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{
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*xVal = mraa_aio_read(m_aioX);
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*yVal = mraa_aio_read(m_aioY);
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*zVal = mraa_aio_read(m_aioZ);
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}
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void ADXL335::acceleration(float *xAccel, float *yAccel, float *zAccel)
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{
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int x, y, z;
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float xVolts, yVolts, zVolts;
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values(&x, &y, &z);
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xVolts = float(x) * m_aref / 1024.0;
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yVolts = float(y) * m_aref / 1024.0;
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zVolts = float(z) * m_aref / 1024.0;
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*xAccel = (xVolts - m_zeroX) / ADXL335_SENSITIVITY;
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*yAccel = (yVolts - m_zeroY) / ADXL335_SENSITIVITY;
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*zAccel = (zVolts - m_zeroZ) / ADXL335_SENSITIVITY;
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}
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void ADXL335::calibrate()
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{
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// make sure the sensor is still before running calibration.
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int x, y, z;
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usleep(10000);
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values(&x, &y, &z);
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setZeroX(float(x) * m_aref / 1024.0);
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setZeroY(float(y) * m_aref / 1024.0);
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setZeroZ(float(z) * m_aref / 1024.0);
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}
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