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100 lines
2.8 KiB
C++
100 lines
2.8 KiB
C++
/*
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* Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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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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#pragma once
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#include <mraa/i2c.h>
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#define READ_BUFFER_LENGTH 6
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namespace upm {
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/**
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* @brief Adxl345 accelerometer library
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* @defgroup adxl345 libupm-adxl345
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*/
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/**
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* @brief C++ API for Adxl345 (3-axis digital accelerometer)
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*
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* The Adxl345 is a 3-axis digital accelerometer.
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* (http://www.seeedstudio.com/wiki/images/2/2c/ADXL345_datasheet.pdf)
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* The sensor has configurable resolutions for measuring ±2g, ±4g, ±8g or ±16g.
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* Note that the sensor it is incompatible and will not be detected on the I2C bus
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* by the Intel Edison using the Arduino breakout board at 5V (3V3 will work fine).
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*
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* @ingroup adxl345 i2c
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* @snippet adxl345.cxx Interesting
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* @image html adxl345.jpeg
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*/
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class Adxl345 {
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public:
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/**
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* Creates an Adxl345 object
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*
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* @param bus number of used i2c bus
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*/
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Adxl345(int bus);
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/**
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* Adxl345 object destructor
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*/
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~Adxl345();
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/**
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* Returns a pointer to a float[3] that contains acceleration (g) forces
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*
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* @return float* to a float[3]
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*/
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float* getAcceleration();
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/**
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* Returns a pointer to an int[3] that contains the raw register values for X, Y and Z
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*
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* @return int* to an int[3]
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*/
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int16_t* getRawValues();
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/**
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* Returns the scale the accelerometer is currently set up to: 2, 4, 8 or 16
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*
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* @return uint with current scale value
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*/
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uint8_t getScale();
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/**
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* Updates the acceleration values from i2c bus
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*
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* @return 0 for success
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*/
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mraa_result_t update();
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private:
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float m_accel[3];
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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_context m_i2c;
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};
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}
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