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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) ics.com>
      3  * Copyright (c) 2015 Intel Corporation.
      4  *
      5  * Adapted from the seeedstudio example
      6  * https://github.com/Seeed-Studio/Accelerometer_ADXL335
      7  *
      8  * Permission is hereby granted, free of charge, to any person obtaining
      9  * a copy of this software and associated documentation files (the
     10  * "Software"), to deal in the Software without restriction, including
     11  * without limitation the rights to use, copy, modify, merge, publish,
     12  * distribute, sublicense, and/or sell copies of the Software, and to
     13  * permit persons to whom the Software is furnished to do so, subject to
     14  * the following conditions:
     15  *
     16  * The above copyright notice and this permission notice shall be
     17  * included in all copies or substantial portions of the Software.
     18  *
     19  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     20  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     21  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     22  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     23  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     24  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     25  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     26  */
     27 
     28 #include <iostream>
     29 #include <string>
     30 #include <stdexcept>
     31 
     32 #include "adxl335.h"
     33 
     34 using namespace std;
     35 using namespace upm;
     36 
     37 ADXL335::ADXL335(int pinX, int pinY, int pinZ, float aref)
     38 {
     39   m_aref = aref;
     40   m_zeroX = 0.0;
     41   m_zeroY = 0.0;
     42   m_zeroZ = 0.0;
     43 
     44   if ( !(m_aioX = mraa_aio_init(pinX)) )
     45     {
     46       throw std::invalid_argument(std::string(__FUNCTION__) +
     47                                   ": mraa_aio_init(X) failed, invalid pin?");
     48       return;
     49     }
     50 
     51   if ( !(m_aioY = mraa_aio_init(pinY)) )
     52     {
     53       throw std::invalid_argument(std::string(__FUNCTION__) +
     54                                   ": mraa_aio_init(Y) failed, invalid pin?");
     55       return;
     56     }
     57 
     58   if ( !(m_aioZ = mraa_aio_init(pinZ)) )
     59     {
     60       throw std::invalid_argument(std::string(__FUNCTION__) +
     61                                   ": mraa_aio_init(Z) failed, invalid pin?");
     62       return;
     63     }
     64 }
     65 
     66 ADXL335::~ADXL335()
     67 {
     68   mraa_aio_close(m_aioX);
     69   mraa_aio_close(m_aioY);
     70   mraa_aio_close(m_aioZ);
     71 }
     72 
     73 void ADXL335::values(int *xVal, int *yVal, int *zVal)
     74 {
     75   *xVal = mraa_aio_read(m_aioX);
     76   *yVal = mraa_aio_read(m_aioY);
     77   *zVal = mraa_aio_read(m_aioZ);
     78 }
     79 
     80 #ifdef SWIGJAVA
     81 int *ADXL335::values()
     82 {
     83   int *v = new int[3];
     84   values(&v[0], &v[1], &v[2]);
     85   return v;
     86 }
     87 #endif
     88 
     89 void ADXL335::acceleration(float *xAccel, float *yAccel, float *zAccel)
     90 {
     91   int x, y, z;
     92   float xVolts, yVolts, zVolts;
     93 
     94   values(&x, &y, &z);
     95   xVolts = float(x) * m_aref / 1024.0;
     96   yVolts = float(y) * m_aref / 1024.0;
     97   zVolts = float(z) * m_aref / 1024.0;
     98 
     99   *xAccel = (xVolts - m_zeroX) / ADXL335_SENSITIVITY;
    100   *yAccel = (yVolts - m_zeroY) / ADXL335_SENSITIVITY;
    101   *zAccel = (zVolts - m_zeroZ) / ADXL335_SENSITIVITY;
    102 }
    103 
    104 #ifdef SWIGJAVA
    105 float *ADXL335::acceleration()
    106 {
    107   float *v = new float[3];
    108   acceleration(&v[0], &v[1], &v[2]);
    109   return v;
    110 }
    111 #endif
    112 
    113 void ADXL335::calibrate()
    114 {
    115   // make sure the sensor is still before running calibration.
    116 
    117   int x, y, z;
    118   usleep(10000);
    119 
    120   values(&x, &y, &z);
    121 
    122   setZeroX(float(x) * m_aref / 1024.0);
    123   setZeroY(float(y) * m_aref / 1024.0);
    124   setZeroZ(float(z) * m_aref / 1024.0);
    125 }
    126