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/*
* 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.
*/
#pragma once
#include <iostream>
#include <string>
#include <mraa/aio.hpp>
// volts per degree / second (typ)
#define m_degreeCoeff 0.006
// volts per degree C (typ)
#define m_temperatureCoeff 0.009
// nominal temperature at m_centerVolts
#define m_temperatureNom 25.0
namespace upm {
/**
* @brief DFRobot ADXRS610 Gyro Breakout Board
* @defgroup adxrs610 libupm-adxrs610
* @ingroup dfrobot analog compass
*/
/**
* @library adxrs610
* @sensor adxrs610
* @comname DFRobot ADXRS610 Gyro Breakout Board
* @altname ADXRS610
* @type compass
* @man dfrobot
* @web http://www.dfrobot.com/index.php?route=product/product&product_id=642
* @con analog
*
* @brief DFRobot ADXRS610 Gyro Beakout board
*
* The ADXRS610 is a MEMS based single axis gyroscope with a range
* of +/- 300 degrees/sec. It also incorporates a temperature
* sensing unit that can be used for advanced calibration.
*
* This sensor returns an analog voltage proportional to the
* rotation about the Z-axis in degrees/sec. The temperature
* component returns a proportional analog values in degrees C.
*
* This driver was developed using the DFRobot ADXRS610 Gyro Beakout board.
*
* @image html adxrs610.jpg
* @snippet adxrs610.cxx Interesting
*/
class ADXRS610 {
public:
/**
* ADXRS610 constructor
*
* @param dPin Analog pin to use for DATAOUT
* @param tPin Analog pin to use for temperature measurement
* @param aref Analog reference voltage; default is 5.0 V
*/
ADXRS610(int dPin, int tPin, float aref=5.0);
/**
* ADXRS610 destructor
*/
~ADXRS610();
/**
* Returns the voltage detected on the DATA analog pin
*
* @return The detected voltage
*/
float getDataVolts();
/**
* Returns the voltage detected on the TEMP analog pin
*
* @return The detected voltage
*/
float getTemperatureVolts();
/**
* This method allows you to specify a deadband region around the
* zero point of the gyro (at rest). This can be used as a
* primitive filter to ignore movment around the zero point.
*
* @param deadband The voltage around the zero point which will be
* ignored
*/
void setDeadband(float deadband) { m_deadband = deadband; };
/**
* Set the zero point. This is the point measured and averaged
* when the sensor is not moving. It is set at construction time
* (averaged over a number of samples), but can be overriden here.
*
* @param zeroPoint The averaged zero point of the sensor at rest
*/
void setZeroPoint(float zeroPoint) { m_zeroPoint = zeroPoint; };
/**
* This method samples the data pin samples times to produce an
* average. This value can then be used as the zero point
* (setZeroPoint()).
*
* @param samples the number of samples to take an average over.
* The default is 50.
* @return the average of the reading over samples times.
*/
float calibrateZeroPoint(unsigned int samples=50);
/**
* Return the zero point value.
*
* @return the current zero point value
*/
float getZeroPoint() { return m_zeroPoint; };
/**
* Return the measured temperature in Celcius. Note, the
* datasheet says that this value is very repeatable, but is not
* an accurate absolute temperature.
*
* @return the current temperature in C
*/
float getTemperature();
/**
* Return the measured angular velocity in degrees/sec.
*
* @return the current angular velocity in degrees/sec
*/
float getAngularVelocity();
protected:
mraa::Aio m_aioData;
mraa::Aio m_aioTemp;
private:
float m_aref;
// ADC resolution
int m_aRes;
// measured or set zero point value
float m_zeroPoint;
// desired deadband, default is 0.0
float m_deadband;
// aref / 2
float m_centerVolts;
};
}
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