mirror of
https://github.com/eclipse/upm.git
synced 2025-03-22 00:17:30 +03:00
ae9b8fb13e
This commit addresses all warnings emitted from -Wunused-function in the C++ src. Signed-off-by: Noel Eck <noel.eck@intel.com>
100 lines
2.6 KiB
C++
100 lines
2.6 KiB
C++
/*
|
|
* Author: Jon Trulson <jtrulson@ics.com>
|
|
* 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 <iostream>
|
|
|
|
#include "adxrs610.hpp"
|
|
|
|
using namespace std;
|
|
using namespace upm;
|
|
|
|
ADXRS610::ADXRS610(int dPin, int tPin, float aref) :
|
|
m_aioData(dPin), m_aioTemp(tPin)
|
|
{
|
|
// ADC resolution of data and temp should be the same...
|
|
m_aRes = (1 << m_aioData.getBit());
|
|
m_aref = aref;
|
|
|
|
setZeroPoint(calibrateZeroPoint());
|
|
setDeadband(0.0);
|
|
|
|
m_centerVolts = aref / 2.0;
|
|
|
|
}
|
|
|
|
ADXRS610::~ADXRS610()
|
|
{
|
|
}
|
|
|
|
float ADXRS610::getDataVolts()
|
|
{
|
|
int val = m_aioData.read();
|
|
|
|
return(float(val) * (m_aref / float(m_aRes)));
|
|
}
|
|
|
|
float ADXRS610::getTemperatureVolts()
|
|
{
|
|
int val = m_aioTemp.read();
|
|
|
|
return(float(val) * (m_aref / float(m_aRes)));
|
|
}
|
|
|
|
float ADXRS610::calibrateZeroPoint(unsigned int samples)
|
|
{
|
|
// The gyro should be in a stable, non-moving state
|
|
|
|
float sum = 0;
|
|
for (unsigned int i=0; i<samples; i++)
|
|
sum += getDataVolts();
|
|
|
|
return sum / samples;
|
|
}
|
|
|
|
float ADXRS610::getTemperature()
|
|
{
|
|
float tempV = getTemperatureVolts();
|
|
|
|
// nominal 2.5 volts at 25C
|
|
if (tempV > m_centerVolts)
|
|
return (m_temperatureNom + ((tempV - m_centerVolts) / m_temperatureCoeff));
|
|
else
|
|
return (m_temperatureNom - ((m_centerVolts - tempV) / m_temperatureCoeff));
|
|
}
|
|
|
|
float ADXRS610::getAngularVelocity()
|
|
{
|
|
float dataV = getDataVolts();
|
|
|
|
// check the deadband
|
|
if (dataV < (m_zeroPoint + m_deadband) &&
|
|
dataV > (m_zeroPoint - m_deadband))
|
|
return 0.0;
|
|
|
|
if (dataV > m_zeroPoint)
|
|
return ((dataV - m_zeroPoint) / m_degreeCoeff);
|
|
else
|
|
return -((m_zeroPoint - dataV) / m_degreeCoeff);
|
|
}
|