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<h1>src/module/ADXL345.js <small>File</small></h1>
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<pre class="prettyprint linenums">
+(function (global, factory) {
if (typeof exports === 'undefined') {
factory(global.webduino || {});
} else {
module.exports = factory;
}
}(this, function (scope) {
'use strict';
var Module = scope.Module,
BoardEvent = scope.BoardEvent,
proto;
var ADXL345Event = {
/**
* Fires when the accelerometer senses a value change.
*
* @event ADXL234Event.MESSAGE
*/
MESSAGE: 'message'
};
/**
* The ADXL345 class.
*
* ADXL345 is a small, thin, ultralow power, 3-axis accelerometer.
*
* @namespace webduino.module
* @class ADXL345
* @constructor
* @param {webduino.Board} board The board that the ADXL345 accelerometer is attached to.
* @extends webduino.Module
*/
function ADXL345(board) {
Module.call(this);
this._board = board;
this._baseAxis = 'z';
this._sensitive = 10;
this._detectTime = 50;
this._messageHandler = onMessage.bind(this);
this._init = false;
this._info = {
x: 0,
y: 0,
z: 0,
fXg: 0,
fYg: 0,
fZg: 0
};
this._callback = function () {};
this._board.send([0xf0, 0x04, 0x0b, 0x00, 0xf7]);
}
function onMessage(event) {
var msg = event.message;
var msgPort = [0x04, 0x0b, 0x04];
var stus = true;
var x, y, z;
if (msg.length !== 9) {
return false;
}
msgPort.forEach(function (val, idx) {
if (val !== msg[idx]) {
stus = false;
}
});
if (!stus) {
return false;
}
x = (msg[3] << 8 | msg[4]) - 1024;
y = (msg[5] << 8 | msg[6]) - 1024;
z = (msg[7] << 8 | msg[8]) - 1024;
this.emit(ADXL345Event.MESSAGE, x, y, z);
}
function calcFixed(base, data, fixedInfo) {
Object.getOwnPropertyNames(data).forEach(function (key) {
fixedInfo[key] = data[key];
if (key === base) {
if (data[key] > 0) {
fixedInfo[key] = data[key] - 256;
} else {
fixedInfo[key] = data[key] + 256;
}
}
});
}
function estimateRollandPitch(x, y, z, fXg, fYg, fZg) {
var alpha = 0.5;
var roll, pitch;
// Low Pass Filter
fXg = x * alpha + (fXg * (1.0 - alpha));
fYg = y * alpha + (fYg * (1.0 - alpha));
fZg = z * alpha + (fZg * (1.0 - alpha));
// Roll & Pitch Equations
roll = (Math.atan2(-fYg, fZg) * 180.0) / Math.PI;
pitch = (Math.atan2(fXg, Math.sqrt(fYg * fYg + fZg * fZg)) * 180.0) / Math.PI;
roll = roll.toFixed(2);
pitch = pitch.toFixed(2);
return {
roll: roll,
pitch: pitch,
fXg: fXg,
fYg: fYg,
fZg: fZg
};
}
ADXL345.prototype = proto = Object.create(Module.prototype, {
constructor: {
value: ADXL345
},
/**
* The state indicating whether the accelerometer is detecting.
*
* @attribute state
* @type {String} `on` or `off`
*/
state: {
get: function () {
return this._state;
},
set: function (val) {
this._state = val;
}
}
});
/**
* Start detection.
*
* @method detect
* @param {Function} [callback] Detection callback.
*/
/**
* Start detection.
*
* @method on
* @param {Function} [callback] Detection callback.
* @deprecated `on()` is deprecated, use `detect()` instead.
*/
proto.detect = proto.on = function(callback) {
var _this = this;
this._board.send([0xf0, 0x04, 0x0b, 0x01, 0xf7]);
if (typeof callback !== 'function') {
callback = function () {};
}
this._callback = function (x, y, z) {
var info = _this._info;
var rt;
if (!_this._init) {
_this._init = true;
calcFixed(this._baseAxis, { x: x, y: y, z: z }, info);
}
x -= info.x;
y -= info.y;
z -= info.z;
rt = estimateRollandPitch(x, y, z, info.fXg, info.fYg, info.fZg);
['fXg', 'fYg', 'fZg'].forEach(function (val) {
info[val] = rt[val];
});
// uint : mg -> g
x = (x / 256).toFixed(2);
y = (y / 256).toFixed(2);
z = (z / 256).toFixed(2);
callback(x, y, z, rt.roll, rt.pitch);
};
this._state = 'on';
this._board.on(BoardEvent.SYSEX_MESSAGE, this._messageHandler);
this.addListener(ADXL345Event.MESSAGE, this._callback);
};
/**
* Stop detection.
*
* @method off
*/
proto.off = function () {
this._state = 'off';
this._board.send([0xf0, 0x04, 0x0b, 0x02, 0xf7]);
this._board.removeListener(BoardEvent.SYSEX_MESSAGE, this._messageHandler);
this.removeListener(ADXL345Event.MESSAGE, this._callback);
this._callback = null;
};
/**
* Reset detection value.
*
* @method refresh
*/
proto.refresh = function () {
this._init = false;
if (this._init === true) {
this._info = {
x: 0,
y: 0,
z: 0,
fXg: 0,
fYg: 0,
fZg: 0
};
}
};
/**
* Set the base axis for calculation.
*
* @method setBaseAxis
* @param {String} axis Axis to be set to, either `x`, `y`, or `z`.
*/
proto.setBaseAxis = function (val) {
this._baseAxis = val;
};
/**
* Set detection sensitivity.
*
* @method setSensitivity
* @param {Number} sensitivity Detection sensitivity.
*/
proto.setSensitivity = function (sensitive) {
if (sensitive !== this._sensitive) {
this._sensitive = sensitive;
this._board.send([0xf0, 0x04, 0x0b, 0x03, sensitive, 0xf7]);
}
};
/**
* Set detecting time period.
*
* @method setDetectTime
* @param {Number} detectTime The time period for detecting, in ms.
*/
proto.setDetectTime = function (detectTime) {
if (detectTime !== this._detectTime) {
this._detectTime = detectTime;
this._board.send([0xf0, 0x04, 0x0b, 0x04, detectTime, 0xf7]);
}
};
scope.module.ADXL345 = ADXL345;
}));
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