-#include "accelerometer.h"
-#include "math.h"
+/*
+ * Accelerometer class to access the device accelerometer
+ *
+ * @author Rikhard Kuutti <rikhard.kuutti@fudeco.com>
+ * @author Kai Rasilainen <kai.rasilainen@fudeco.com>
+ * @author Jukka Kurttila <jukka.kurttila@fudeco.com>
+ * @copyright (c) 2010 Speed Freak team
+ * @license http://opensource.org/licenses/gpl-license.php GNU Public License
+ */
-#include <QFile>
-#include <QString>
-#include <QRegExp>
-#include <QTimer>
+#include "accelerometer.h"
-#define kFilteringFactor 0.1
-#define kGravity 9.81
+#include <QDBusConnection>
+#include <QDBusInterface>
+#include <QDBusPendingReply>
-static int sampleIndex=0;
+#define kFilteringFactor 0.2
+#define kIterations 1024
+/**
+ * Default constructor for Accelerometer class
+ *
+ */
Accelerometer::Accelerometer()
{
- QTimer *timer = new QTimer(this);
- connect(timer, SIGNAL(timeout()), this, SLOT(processData()));
- sampleRate = 100;
- timer->start(sampleRate);
- now.restart();
-
initValues();
+ calibrateDialog = NULL;
}
-Accelerometer::~Accelerometer() {
-}
-
-void Accelerometer::start() {
- timer->start(sampleRate);
- now.restart();
-}
-
-void Accelerometer::initValues() {
- accelerationX=0;
- accelerationY=0;
- accelerationZ=0;
- trueAccelerationX=0;
- trueAccelerationY=0;
- trueAccelerationZ=0;
- previousAccelerationX=0;
- previousAccelerationY=0;
- previousAccelerationZ=0;
- previousSpeed=0;
- currentSpeed=0;
- currentAcceleration=0;
- previousAcceleration=0;
- totalAcceleration=0;
- intervalTime=0;
- totalTime=0;
- distanceTraveled=0;
- lastDistanceTraveled=0;
- averageSpeed=0;
- sampleRate=0;
-}
-
-void Accelerometer::stop() {
- timer->stop();
+/**
+ * Default destructor for Accelerometer class
+ *
+ */
+Accelerometer::~Accelerometer()
+{
+ if(calibrateDialog)
+ delete calibrateDialog;
}
-void Accelerometer::setSampleRate(int pSampleRate) {
- sampleRate = pSampleRate;
+/**
+ * Init class members
+ *
+ */
+void Accelerometer::initValues()
+{
+ previousAccelerationX = 0;
+ previousAccelerationY = 0;
+ previousAccelerationZ = 0;
+ calibrationX = 0;
+ calibrationY = 0;
+ calibrationZ = 0;
}
-int Accelerometer::getSampleRate() {
- return sampleRate;
-}
+/**
+ * Calibrate. Purpose of this function is to calibrate
+ * accelerometer when stationary.
+ *
+ */
+void Accelerometer::calibrate(void)
+{
+ unsigned int iteration = 0;
+ qreal sampleX, sampleY, sampleZ;
-qreal Accelerometer::getCurrentAcceleration() {
- return currentAcceleration;
-}
+ calibrateDialog = new CalibrateDialog();
+ calibrateDialog->show();
+ calibrateDialog->resetProgressValue();
+ calibrateDialog->setMaxValue( kIterations + 1 );
-qreal Accelerometer::getPreviousTotalAcceleration() {
- return previousAcceleration;
-}
+ do {
+ calibrateDialog->setProgressValue(iteration);
-qreal Accelerometer::getTotalAcceleration() {
- return totalAcceleration;
-}
+ getAcceleration(sampleX, sampleY, sampleZ);
-qreal Accelerometer::getDistanceTraveled() {
- return distanceTraveled;
-}
+ calibrationX += sampleX; // Accumulate Samples
+ calibrationY += sampleY; // for all axes.
+ calibrationZ += sampleZ;
-qreal Accelerometer::getLastDistanceTraveled() {
- return lastDistanceTraveled;
-}
+ iteration++;
-qreal Accelerometer::getAverageSpeed() {
- return averageSpeed;
-}
+ } while(iteration != kIterations); // kIterations times
-qreal Accelerometer::getTrueAccelerationX() {
- return trueAccelerationX;
-}
+ calibrationX = calibrationX/kIterations; // division by kIterations
+ calibrationY = calibrationY/kIterations;
+ calibrationZ = calibrationZ/kIterations;
-qreal Accelerometer::getTrueAccelerationY() {
- return trueAccelerationY;
+ calibrateDialog->close();
}
-qreal Accelerometer::getTrueAccelerationZ() {
- return trueAccelerationZ;
-}
+/**
+ * Smooths Accelerometer data by applying a low pass filter to data
+ *
+ * @param x accelerometer's x-axis input
+ * @param y accelerometer's y-axis input
+ * @param z accelerometer's z-axis input
+ */
+void Accelerometer::smoothData(qreal &x, qreal &y, qreal &z)
+{
+ x = (previousAccelerationX * (1 - kFilteringFactor)) + (x * kFilteringFactor);
+ y = (previousAccelerationY * (1 - kFilteringFactor)) + (y * kFilteringFactor);
+ z = (previousAccelerationZ * (1 - kFilteringFactor)) + (z * kFilteringFactor);
-qreal Accelerometer::getPreviousSpeed() {
- return previousSpeed;
+ previousAccelerationX = x;
+ previousAccelerationY = y;
+ previousAccelerationZ = z;
}
-qreal Accelerometer::getCurrentSpeed() {
- return currentSpeed;
+/**
+ * Gets the raw acceleration data from accelerometer
+ *
+ * @param x accelerometer's x-axis input
+ * @param y accelerometer's y-axis input
+ * @param z accelerometer's z-axis input
+ */
+void Accelerometer::getAcceleration(qreal &x, qreal &y, qreal &z)
+{
+ QDBusConnection connection(QDBusConnection::systemBus());
+ if (connection.isConnected()) {
+ QDBusInterface interface("com.nokia.mce", "/com/nokia/icd", QString(), connection);
+ QDBusPendingReply<QString, QString, QString, int, int, int> reply;
+ reply = interface.asyncCall("get_device_orientation");
+ reply.waitForFinished();
+ x = static_cast<qreal>(reply.argumentAt<3>()) / 1000;
+ y = static_cast<qreal>(reply.argumentAt<4>()) / 1000;
+ z = static_cast<qreal>(reply.argumentAt<5>()) / 1000;
+ }
}
-qreal Accelerometer::getintervalTime() {
- return intervalTime;
+/**
+ * Get the x calibration component
+ *
+ * @return calibrationX x calibration component
+ */
+qreal Accelerometer::getCalibrationX()
+{
+ return calibrationX;
}
/**
- * Processes Accelerometer data
+ * Get the y calibration component
*
+ * @return calibrationY y calibration component
*/
-void Accelerometer::processData()
+qreal Accelerometer::getCalibrationY()
{
- QFile file("/sys/class/i2c-adapter/i2c-3/3-001d/coord");
- if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
- return;
-
- // Read data, parse with regular expressions and process it
- QByteArray line = file.readLine();
- QRegExp rx("([0-9-]+) ([0-9-]+) ([0-9-]+)");
- rx.indexIn(line);
-
- smoothData(rx.cap(1).toInt(), rx.cap(2).toInt(), rx.cap(3).toInt());
-
- trueAccelerationX = (accelerationX - previousAccelerationX)/1000*kGravity;
- trueAccelerationY = (accelerationY - previousAccelerationY)/1000*kGravity;
- trueAccelerationZ = (accelerationZ - previousAccelerationZ)/1000*kGravity;
-
- previousAccelerationX = accelerationX;
- previousAccelerationY = accelerationY;
- previousAccelerationZ = accelerationZ;
-
- currentAcceleration = sqrt(trueAccelerationX * trueAccelerationX +
- trueAccelerationY * trueAccelerationY +
- trueAccelerationZ * trueAccelerationZ );
-
- totalAcceleration = currentAcceleration - previousAcceleration;
-
- totalAcceleration = fabs(totalAcceleration);
-
- previousAcceleration = currentAcceleration;
-
- // v = v0 + at
- // x = x0 + v0t + (at^2)/2
- // v = (v + v0)/2
-
- intervalTime = now.restart();
- intervalTime = intervalTime/1000; // millisecs to secs
- totalTime = totalTime + intervalTime;
-
- // filter noise
- // TODO: do this in smoothdata: implement a better filter.
- if (totalAcceleration > 0.02) {
- currentSpeed = ( previousSpeed + ( totalAcceleration * intervalTime ) / 2 );
- } else {
- currentSpeed = 0;
- }
-
- // filter noise
- if (currentSpeed > 0.02) {
- distanceTraveled = ( lastDistanceTraveled + ( ( currentSpeed + previousSpeed ) * intervalTime) / 2 );
- } else {
- //distanceTraveled = 0;
- }
-
- averageSpeed = distanceTraveled / totalTime;
-
- previousSpeed = currentSpeed;
- lastDistanceTraveled = distanceTraveled;
-
- file.close();
+ return calibrationY;
}
/**
- * Smooths Accelerometer data
+ * Get the z calibration component
*
- * @param x Accelerometers x-axis raw input
- * @param y Accelerometers y-axis raw input
- * @param z Accelerometers z-axis raw input
+ * @return calibrationZ z calibration component
*/
-void Accelerometer::smoothData(qreal x, qreal y, qreal z) {
- accelerationX = x;
- accelerationY = y;
- accelerationZ = z;
- if(sampleIndex>0) {
- accelerationX = previousAccelerationX + (accelerationX-previousAccelerationX) * kFilteringFactor;
- accelerationY = previousAccelerationY + (accelerationY-previousAccelerationY) * kFilteringFactor;
- accelerationZ = previousAccelerationZ + (accelerationZ-previousAccelerationZ) * kFilteringFactor;
- }
- sampleIndex++;
+qreal Accelerometer::getCalibrationZ()
+{
+ return calibrationZ;
}