source: rtos_arduino/trunk/arduino_lib/libraries/ZumoShield/Accelerometer.cpp@ 232

#include <Wire.h>
#include <LSM303.h>
#include <RunningAverage.h>
#include <Accelerometer.h>

// class Accelerometer -- member function definitions

// enable accelerometer only
// to enable both accelerometer and magnetometer, call enableDefault() instead
void Accelerometer::enable(void)
{
  // Enable Accelerometer
  // 0x27 = 0b00100111
  // Normal power mode, all axes enabled
  writeAccReg(LSM303::CTRL_REG1_A, 0x27);

  if (getDeviceType() == LSM303::device_DLHC)
  writeAccReg(LSM303::CTRL_REG4_A, 0x08); // DLHC: enable high resolution mode
}

void Accelerometer::getLogHeader(void)
{
  Serial.print("millis    x      y     len     dir  | len_avg  dir_avg  |  avg_len");
  Serial.println();
}

void Accelerometer::readAcceleration(unsigned long timestamp)
{
  readAcc();
  if (a.x == last.x && a.y == last.y) return;
  
  last.timestamp = timestamp;
  last.x = a.x;
  last.y = a.y;
  
  ra_x.addValue(last.x);
  ra_y.addValue(last.y);
 
#ifdef LOG_SERIAL
 Serial.print(last.timestamp);
 Serial.print("  ");
 Serial.print(last.x);
 Serial.print("  ");
 Serial.print(last.y);
 Serial.print("  ");
 Serial.print(len_xy());
 Serial.print("  ");
 Serial.print(dir_xy());
 Serial.print("  |  ");
 Serial.print(sqrt(static_cast<float>(ss_xy_avg())));
 Serial.print("  ");
 Serial.print(dir_xy_avg());
 Serial.println();
#endif
}

float Accelerometer::len_xy() const
{
  return sqrt(last.x*a.x + last.y*a.y);
}

float Accelerometer::dir_xy() const
{
  return atan2(last.x, last.y) * 180.0 / M_PI;
}

int Accelerometer::x_avg(void) const
{
  return ra_x.getAverage();
}

int Accelerometer::y_avg(void) const
{
  return ra_y.getAverage();
}

long Accelerometer::ss_xy_avg(void) const
{
  long x_avg_long = static_cast<long>(x_avg());
  long y_avg_long = static_cast<long>(y_avg()); 
  return x_avg_long*x_avg_long + y_avg_long*y_avg_long;
}

float Accelerometer::dir_xy_avg(void) const
{
  return atan2(static_cast<float>(x_avg()), static_cast<float>(y_avg())) * 180.0 / M_PI;
}