diff options
Diffstat (limited to 'peripheral/libupm/src/adxl345/adxl345.cxx')
| -rw-r--r-- | peripheral/libupm/src/adxl345/adxl345.cxx | 177 |
1 files changed, 0 insertions, 177 deletions
diff --git a/peripheral/libupm/src/adxl345/adxl345.cxx b/peripheral/libupm/src/adxl345/adxl345.cxx deleted file mode 100644 index 3503d64..0000000 --- a/peripheral/libupm/src/adxl345/adxl345.cxx +++ /dev/null @@ -1,177 +0,0 @@ -/* - * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com> - * Copyright (c) 2014 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 <string> -#include <stdexcept> -#include <unistd.h> -#include "math.h" -#include "adxl345.h" - -#define READ_BUFFER_LENGTH 6 - -//address and id -#define ADXL345_I2C_ADDR 0x53 -#define ADXL345_ID 0x00 - -//control registers -#define ADXL345_OFSX 0x1E -#define ADXL345_OFSY 0x1F -#define ADXL345_OFSZ 0x20 -#define ADXL345_TAP_THRESH 0x1D -#define ADXL345_TAP_DUR 0x21 -#define ADXL345_TAP_LATENCY 0x22 -#define ADXL345_ACT_THRESH 0x24 -#define ADXL345_INACT_THRESH 0x25 -#define ADXL345_INACT_TIME 0x26 -#define ADXL345_INACT_ACT_CTL 0x27 -#define ADXL345_FALL_THRESH 0x28 -#define ADXL345_FALL_TIME 0x29 -#define ADXL345_TAP_AXES 0x2A -#define ADXL345_ACT_TAP_STATUS 0x2B - -//interrupt registers -#define ADXL345_INT_ENABLE 0x2E -#define ADXL345_INT_MAP 0x2F -#define ADXL345_INT_SOURCE 0x30 - -//data registers (read only) -#define ADXL345_XOUT_L 0x32 -#define ADXL345_XOUT_H 0x33 -#define ADXL345_YOUT_L 0x34 -#define ADXL345_YOUT_H 0x35 -#define ADXL345_ZOUT_L 0x36 -#define ADXL345_ZOUT_H 0x37 -#define DATA_REG_SIZE 6 - -//data and power management -#define ADXL345_BW_RATE 0x2C -#define ADXL345_POWER_CTL 0x2D -#define ADXL345_DATA_FORMAT 0x31 -#define ADXL345_FIFO_CTL 0x38 -#define ADXL345_FIFO_STATUS 0x39 - -//useful values -#define ADXL345_POWER_ON 0x08 -#define ADXL345_AUTO_SLP 0x30 -#define ADXL345_STANDBY 0x00 - -//scales and resolution -#define ADXL345_FULL_RES 0x08 -#define ADXL345_10BIT 0x00 -#define ADXL345_2G 0x00 -#define ADXL345_4G 0x01 -#define ADXL345_8G 0x02 -#define ADXL345_16G 0x03 - -using namespace upm; - -Adxl345::Adxl345(int bus) : m_i2c(bus) -{ - //init bus and reset chip - if ( m_i2c.address(ADXL345_I2C_ADDR) != mraa::SUCCESS ){ - throw std::invalid_argument(std::string(__FUNCTION__) + - ": i2c.address() failed"); - return; - } - - m_buffer[0] = ADXL345_POWER_CTL; - m_buffer[1] = ADXL345_POWER_ON; - if( m_i2c.write(m_buffer, 2) != mraa::SUCCESS){ - throw std::runtime_error(std::string(__FUNCTION__) + - ": i2c.write() control register failed"); - return; - } - - if ( m_i2c.address(ADXL345_I2C_ADDR) != mraa::SUCCESS ){ - throw std::invalid_argument(std::string(__FUNCTION__) + - ": i2c.address() failed"); - return; - } - - m_buffer[0] = ADXL345_DATA_FORMAT; - m_buffer[1] = ADXL345_16G | ADXL345_FULL_RES; - if( m_i2c.write(m_buffer, 2) != mraa::SUCCESS){ - throw std::runtime_error(std::string(__FUNCTION__) + - ": i2c.write() mode register failed"); - return; - } - - //2.5V sensitivity is 256 LSB/g = 0.00390625 g/bit - //3.3V x and y sensitivity is 265 LSB/g = 0.003773584 g/bit, z is the same - - m_offsets[0] = 0.003773584; - m_offsets[1] = 0.003773584; - m_offsets[2] = 0.00390625; - - Adxl345::update(); -} - -float* -Adxl345::getAcceleration() -{ - for(int i = 0; i < 3; i++){ - m_accel[i] = m_rawaccel[i] * m_offsets[i]; - } - return &m_accel[0]; -} - -int16_t* -Adxl345::getRawValues() -{ - return &m_rawaccel[0]; -} - -uint8_t -Adxl345::getScale(){ - - uint8_t result; - - m_i2c.address(ADXL345_I2C_ADDR); - m_i2c.writeByte(ADXL345_DATA_FORMAT); - - m_i2c.address(ADXL345_I2C_ADDR); - result = m_i2c.readByte(); - - return pow(2, (result & 0x03) + 1); -} - -mraa::Result -Adxl345::update(void) -{ - m_i2c.address(ADXL345_I2C_ADDR); - m_i2c.writeByte(ADXL345_XOUT_L); - - m_i2c.address(ADXL345_I2C_ADDR); - m_i2c.read(m_buffer, DATA_REG_SIZE); - - // x - m_rawaccel[0] = ((m_buffer[1] << 8 ) | m_buffer[0]); - // y - m_rawaccel[1] = ((m_buffer[3] << 8 ) | m_buffer[2]); - // z - m_rawaccel[2] = ((m_buffer[5] << 8 ) | m_buffer[4]); - - return mraa::SUCCESS; -} |