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/*
* 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.
*/
#pragma once
#include <mraa/i2c.hpp>
#define READ_BUFFER_LENGTH 6
namespace upm {
/**
* @brief ADXL345 Accelerometer library
* @defgroup adxl345 libupm-adxl345
* @ingroup seeed i2c accelerometer
*/
/**
* @library adxl345
* @sensor adxl345
* @comname ADXL345 3-Axis Digital Accelerometer
* @altname Grove 3-Axis Digital Accelerometer (16g)
* @type accelerometer
* @man seeed
* @con i2c
*
* @brief API for the ADXL345 3-Axis Digital Accelerometer
*
* ADXL345 is a 3-axis digital accelerometer.
* (http://www.seeedstudio.com/wiki/images/2/2c/ADXL345_datasheet.pdf)
* The sensor has configurable resolutions to measure ±2g, ±4g, ±8g, or ±16g.
* Note: The Grove* version of the sensor is incompatible with and not detected
* on the I2C bus by the Intel(R) Edison using an Arduino* breakout board at 5V
* (3V works fine).
*
* @image html adxl345.jpeg
* @snippet adxl345.cxx Interesting
*/
class Adxl345 {
public:
/**
* Creates an ADXL345 object
*
* @param bus Number of the used I2C bus
*/
Adxl345(int bus);
/**
* there is no need for a ADXL345 object destructor
* ~Adxl345();
*/
/**
* Returns a pointer to a float[3] that contains acceleration (g) forces
*
* @return float* to a float[3]
*/
float* getAcceleration();
/**
* Returns a pointer to an int[3] that contains the raw register values
* for X, Y, and Z
*
* @return int* to an int[3]
*/
int16_t* getRawValues();
/**
* Returns the scale the accelerometer is currently set up to: 2, 4, 8,
* or 16
*
* @return uint with the current scale value
*/
uint8_t getScale();
/**
* Updates the acceleration values from the I2C bus
*
* @return 0 if successful
*/
mraa::Result update();
private:
float m_accel[3];
float m_offsets[3];
int16_t m_rawaccel[3];
uint8_t m_buffer[READ_BUFFER_LENGTH];
mraa::I2c m_i2c;
};
}
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