LSM303AGR_JS.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    LSM303AGR_JS.cpp
00004  * @author  ST
00005  * @version V1.0.0
00006  * @date    9 October 2017
00007  * @brief   Implementation of an LSM303AGR Accelerometer and Magnetometer sensor for
00008  *          use with Javascript.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 
00040 /* Includes ------------------------------------------------------------------*/
00041 
00042 #include "LSM303AGR_JS.h"
00043 #include <inttypes.h>
00044 #include <stdlib.h>     /* atoi */
00045 #include "mbed.h"
00046 
00047 /* Helper function for printing floats & doubles */
00048 static char *print_double(char* str, double v, int decimalDigits=2)
00049 {
00050     int i = 1;
00051     int intPart, fractPart;
00052     int len;
00053     char *ptr;
00054 
00055     /* prepare decimal digits multiplicator */
00056     for (;decimalDigits!=0; i*=10, decimalDigits--);
00057 
00058     /* calculate integer & fractinal parts */
00059     intPart = (int)v;
00060     fractPart = (int)((v-(double)(int)v)*i);
00061 
00062     /* fill in integer part */
00063     sprintf(str, "%i.", intPart);
00064 
00065     /* prepare fill in of fractional part */
00066     len = strlen(str);
00067     ptr = &str[len];
00068 
00069     /* fill in leading fractional zeros */
00070     for (i/=10;i>1; i/=10, ptr++) {
00071         if (fractPart >= i) {
00072             break;
00073         }
00074         *ptr = '0';
00075     }
00076 
00077     /* fill in (rest of) fractional part */
00078     sprintf(ptr, "%i", fractPart);
00079 
00080     return str;
00081 }
00082 
00083 /* Helper function for creating JSON for data */
00084 char *LSM303AGR_JS::make_json(char* str, int32_t *data, char *axes, int data_count)
00085 {
00086     char *ptr;
00087     ptr = str;
00088     str[0] = 0;
00089 
00090     for(int i = 0; i < data_count; i++){
00091         //printf("len: %i\n", strlen(str));
00092         if(i == 0){
00093             sprintf(ptr, "{");
00094             ptr = &str[strlen(str)];
00095         }
00096         else{
00097             sprintf(ptr, ",");
00098             ptr = &str[strlen(str)];
00099         }
00100         sprintf(ptr, "\"%c\":%i", axes[i], static_cast<int>(data[i]));
00101         ptr = &str[strlen(str)];
00102     }
00103     sprintf(ptr, "}");
00104     return str;
00105 }
00106 
00107 /* Class Implementation ------------------------------------------------------*/
00108 
00109 /** init_acc
00110  * @brief   Initializing the component.
00111  * @param   SPI object of an helper class which handles the SPI peripheral
00112  * @param   CS pin
00113  */
00114 void LSM303AGR_JS::init_acc(SPI &spi, PinName cs_pin){
00115     accelerometer = new LSM303AGRAccSensor (&spi, cs_pin);
00116     accelerometer->init(NULL);
00117     accelerometer->enable();
00118 }
00119 
00120 /** init_acc
00121  * @brief   Initializing the component.
00122  * @param   SPI object of an helper class which handles the SPI peripheral
00123  * @param   CS pin
00124  * @param   INT1 pin
00125  * @param   INT2 pin
00126  */
00127 void LSM303AGR_JS::init_acc(SPI &spi, PinName cs_pin, PinName int1_pin, PinName int2_pin){
00128     accelerometer = new LSM303AGRAccSensor (&spi, cs_pin, int1_pin, int2_pin);
00129     accelerometer->init(NULL);
00130     accelerometer->enable();
00131 }
00132 
00133 /** init_acc
00134  * @brief   Initializing the component.
00135  * @param   DevI2c object of an helper class which handles the DevI2C peripheral
00136  */
00137 void LSM303AGR_JS::init_acc(DevI2C &devI2c){
00138     accelerometer = new LSM303AGRAccSensor (&devI2c);
00139     accelerometer->init(NULL);
00140     accelerometer->enable();
00141 }
00142 
00143 /** init_acc
00144  * @brief   Initializing the component.
00145  * @param   DevI2c object of an helper class which handles the DevI2C peripheral
00146  * @param   INT1 pin
00147  * @param   INT2 pin
00148  */
00149 void LSM303AGR_JS::init_acc(DevI2C &devI2c, PinName int1_pin, PinName int2_pin){
00150     accelerometer = new LSM303AGRAccSensor (&devI2c, LSM303AGR_ACC_I2C_ADDRESS, int1_pin, int2_pin);
00151     accelerometer->init(NULL);
00152     accelerometer->enable();
00153 }
00154 
00155 /** init_acc
00156  * @brief   Initializing the component.
00157  * @param   DevI2c object of an helper class which handles the DevI2C peripheral
00158  * @param   INT1 pin
00159  * @param   INT2 pin
00160  * @param   Address
00161  */
00162 void LSM303AGR_JS::init_acc(DevI2C &devI2c, PinName int1_pin, PinName int2_pin, uint8_t address){
00163     accelerometer = new LSM303AGRAccSensor (&devI2c, address, int1_pin, int2_pin);
00164     accelerometer->init(NULL);
00165     accelerometer->enable();
00166 }
00167 
00168 /** init_mag
00169  * @brief   Initializing the component.
00170  * @param   SPI object of an helper class which handles the SPI peripheral
00171  * @param   CS pin
00172  */
00173 void LSM303AGR_JS::init_mag(SPI &spi, PinName cs_pin){
00174     magnetometer = new LSM303AGRMagSensor (&spi, cs_pin);
00175     magnetometer->init(NULL);
00176     magnetometer->enable();
00177 }
00178 
00179 /** init_mag
00180  * @brief   Initializing the component.
00181  * @param   SPI object of an helper class which handles the SPI peripheral
00182  * @param   CS pin
00183  * @param   INT pin
00184  */
00185 void LSM303AGR_JS::init_mag(SPI &spi, PinName cs_pin, PinName int_pin){
00186     magnetometer = new LSM303AGRMagSensor (&spi, cs_pin, int_pin);
00187     magnetometer->init(NULL);
00188     magnetometer->enable();
00189 }
00190 
00191 /** init_mag
00192  * @brief   Initializing the component.
00193  * @param   DevI2c object of an helper class which handles the DevI2C peripheral
00194  */
00195 void LSM303AGR_JS::init_mag(DevI2C &devI2c){
00196     magnetometer = new LSM303AGRMagSensor (&devI2c);
00197     magnetometer->init(NULL);
00198     magnetometer->enable();
00199 }
00200 
00201 /** init_mag
00202  * @brief   Initializing the component.
00203  * @param   DevI2c object of an helper class which handles the DevI2C peripheral
00204  * @param   INT pin
00205  */
00206 void LSM303AGR_JS::init_mag(DevI2C &devI2c, PinName int_pin){
00207     magnetometer = new LSM303AGRMagSensor (&devI2c, LSM303AGR_MAG_I2C_ADDRESS, int_pin);
00208     magnetometer->init(NULL);
00209     magnetometer->enable();
00210 }
00211 
00212 /** init_mag
00213  * @brief   Initializing the component.
00214  * @param   DevI2c object of an helper class which handles the DevI2C peripheral
00215  * @param   INT pin
00216  * @param   Address
00217  */
00218 void LSM303AGR_JS::init_mag(DevI2C &devI2c, PinName int_pin, uint8_t address){
00219     magnetometer = new LSM303AGRMagSensor (&devI2c, address, int_pin);
00220     magnetometer->init(NULL);
00221     magnetometer->enable();
00222 }
00223 
00224 /** Destructor
00225  * @brief     Recycle the component.
00226  *  Deletes the Sensor Object
00227  */
00228 LSM303AGR_JS::~LSM303AGR_JS(){
00229     if(magnetometer != NULL){
00230         delete magnetometer;
00231     }
00232     if(accelerometer != NULL){
00233         delete accelerometer;
00234     }
00235 }
00236 
00237 /**
00238  * @brief  Read ID address of LSM303AGR Magnetometer
00239  * @retval The ID of the Sensor
00240  */
00241 uint8_t LSM303AGR_JS::read_magnetometer_id(){
00242     uint8_t result;
00243     magnetometer->read_id(&result);
00244     return result;
00245 }
00246 
00247 /**
00248  * @brief  Read ID address of LSM303AGR Accelerometer
00249  * @retval The ID of the Sensor
00250  */
00251 uint8_t LSM303AGR_JS::read_accelerometer_id(){
00252     uint8_t result;
00253     accelerometer->read_id(&result);
00254     return result;
00255 }
00256 
00257 /**
00258  * @brief  Get the accleremeter reading from LSM303AGR
00259  * @retval Accleremeter value
00260  */
00261 int32_t *LSM303AGR_JS::get_accelerometer_axes(int32_t *axes){
00262     accelerometer->get_x_axes(axes);
00263     printf("LSM303AGR [acc/mg]:        %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00264     return axes;
00265 }
00266 
00267 /**
00268  * @brief  Get the accleremeter reading from LSM303AGR
00269  * @retval Accleremeter value in JSON string form
00270  */
00271 
00272 char *LSM303AGR_JS::get_accelerometer_axes_json(char *data){
00273     int32_t axes[3];
00274     accelerometer->get_x_axes(axes);
00275     //printf("LSM303AGR [acc/mg]:        %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00276     
00277     char axes_labels[3] = {'x', 'y', 'z'};
00278     make_json(data, axes, axes_labels, 3);
00279     
00280     return data;
00281 }
00282 
00283 
00284 /**
00285  * @brief  Get the Magnetometer reading from LSM303AGR
00286  * @retval Magnetometer value
00287  */
00288 int32_t *LSM303AGR_JS::get_magnetometer_axes(int32_t *axes){
00289     magnetometer->get_m_axes(axes);
00290     printf("LSM303AGR [mag/mgauss]:     %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00291     return axes;
00292 }
00293 
00294 /**
00295  * @brief  Get the Magnetometer reading from LSM303AGR
00296  * @retval Magnetometer value
00297  */
00298 char *LSM303AGR_JS::get_magnetometer_axes_json(char * data){
00299     int32_t axes[3];
00300     magnetometer->get_m_axes(axes);
00301     //printf("LSM303AGR [mag/mgauss]:     %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00302     
00303     char axes_labels[3] = {'x', 'y', 'z'};
00304     make_json(data, axes, axes_labels, 3);
00305     
00306     return data;
00307 }