adxrs610.h

/*
 * 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>

namespace upm {
  class ADXRS610 {
  public:

    ADXRS610(int dPin, int tPin, float aref=5.0);

    ~ADXRS610();

    float getDataVolts();

    float getTemperatureVolts();

    void setDeadband(float deadband) { m_deadband = deadband; };

    void setZeroPoint(float zeroPoint) { m_zeroPoint = zeroPoint; };

    float calibrateZeroPoint(unsigned int samples=50);

    float getZeroPoint() { return m_zeroPoint; };

    float getTemperature();

    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;

    // volts per degree / second (typ)
    static const float m_degreeCoeff = 0.006;

    // volts per degree C (typ)
    static const float m_temperatureCoeff = 0.009;
    // nominal temperature at m_centerVolts
    static const float m_temperatureNom = 25.0;
  };
}