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Accel.cpp
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Accel.cpp
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#include "Accel.h"
Accel::Accel(int addr) {
_addr = addr << 1;
_initI2C();
_initGPIO();
_offset_x = 0;
_offset_y = 0;
_offset_z = 0;
_offset = 0;
_angle = 0;
}
void Accel::_initI2C() {
_accel_i2c = new I2C(p28, p27);
_standby();
_setScale(SCALE_2G);
_setOdr(ODR_6);
_setMode();
_set8Bit();
_active();
}
void Accel::_initGPIO() {
*(LPC_PINCON_PINSEL1) &= ~(3<<16);
*(LPC_GPIO0_FIODIR) |= (1<<24);
*(LPC_PINCON_PINMODE1) |= (3<<16);
}
void Accel::_writeTo(AccRegister reg, char data) {
char buffer[2] = {reg, data};
_accel_i2c->write(_addr, buffer, 2);
}
char Accel::_readFrom(AccRegister reg) {
char data = 0;
_readBufferFrom(reg, &data, 1);
return data;
}
void Accel::_readBufferFrom(AccRegister reg, char *buffer, char len) {
char _reg[1] = {reg};
_accel_i2c->write(_addr, _reg, 1, true);
_accel_i2c->read(_addr, buffer, len);
}
void Accel::_standby() {
char c = _readFrom(CTRL_REG1);
_writeTo(CTRL_REG1, c & ~(0b00000001));
}
void Accel::_active() {
char c = _readFrom(CTRL_REG1);
_writeTo(CTRL_REG1, c | 0b00000001);
}
void Accel::_setScale(AccScale scale) {
char c = _readFrom(XYZ_DATA_CFG);
c &= ~0b00000011; // Reset scale
c |= scale;
_writeTo(XYZ_DATA_CFG, c);
}
void Accel::_setOdr(AccOdr odr) {
char c = _readFrom(CTRL_REG1);
c &= ~0b00111000; // Reset odr
c |= odr;
_writeTo(CTRL_REG1, c);
}
void Accel::_setMode() {
char c = _readFrom(CTRL_REG2);
c &= ~0b00000011; // Reset odr
c |= 0b00000001; // Low noise Low Power
_writeTo(CTRL_REG2, c);
}
void Accel::_set8Bit() {
char c = _readFrom(CTRL_REG1);
c &= ~0b00000010; // Reset
c |= 0b00000010; //
_writeTo(CTRL_REG1, c);
}
float Accel::_rad2deg(float rad) {
return rad * 180.0 / PI;
}
float Accel::_capInterval(float val, float _min, float _max) {
// Make sure the value is cap in the interval
if(val > 0) {
return min(val, _max);
} else {
return max(val, _min);
}
}
void Accel::update() {
int activated = 0;
int value = ((*(LPC_GPIO0_FIOPIN) & (1 <<24))>> 24);
//printf("Button = %d\n",value);
if(value){
activated = 1;
}
_readBufferFrom(OUT_X_MSB, _data_buffer, 3);
// Set X in g
_x = (float) _data_buffer[0];
if(_x > 127) {
_x -= 255;
}
_x = _capInterval(_x * 4.0 / 256.0, -1.0, 1.0);
// Set Y in g
_y = (float) _data_buffer[1];
if(_y > 127) {
_y -= 255;
}
_y = _capInterval(_y * 4.0 / 256.0, -1.0, 1.0);
// Set X in g
_z = (float) _data_buffer[2];
if(_z > 127) {
_z -= 255;
}
_z = _capInterval(_z * 4.0 / 256.0, -1.0, 1.0);
if(activated){
//_offset_x = _x;
//_offset_y = _y;
//_offset_z = 1-_z;
_offset = _angle;
}
_angle = _rad2deg(asin(_x));
if(_z < 0) {
_angle = (_x >= 0.0 ? 180.0:-180.0) - _angle;
}
//printf("_x %0.2f -- offset_x %0.2f -- x() %0.2f \n", _x, _offset_x, x());
// printf("_angle %0.2f -- offset %0.2f -- diff %0.2f -- a() %0.2f \n", _angle, _offset, _angle - _offset, a());
//
}
float Accel::x() {
//return _capInterval(_x + (_x >= 0.0? -_offset_x:_offset_x),-1.0,1.0);
return _x;
}
float Accel::y() {
//return _capInterval(_y + (_y >= 0.0? -_offset_y:_offset_y),-1.0,1.0);
return _y;
}
float Accel::z() {
//return _capInterval(_z + (_z >= 0.0? -_offset_z:_offset_z),-1.0,1.0);
return _z;
}
float Accel::a() {
// return _angle + (_angle >= 0.0? -_offset:(360 - _offset));
if(_angle < 0) {
if(_angle - _offset > -180) {
return _angle - _offset;
} else {
return _angle + (360 - _offset);
}
} else {
return _angle - _offset;
}
}