* Accelerometer class to access the device accelerometer
*
* @author Rikhard Kuutti <rikhard.kuutti@fudeco.com>
- * @author Kai Rasilainen
+ * @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 "accelerometer.h"
-#include "math.h"
-#include <QFile>
-#include <QString>
-#include <QRegExp>
-#include <QTimer>
#include <QDBusConnection>
#include <QDBusInterface>
#include <QDBusPendingReply>
-#define kFilteringFactor 0.1
-#define kGravity 9.81
-#define kFileName "/sys/class/i2c-adapter/i2c-3/3-001d/coord"
-
-static int sampleIndex=0;
+#define kFilteringFactor 0.2
+#define kIterations 1024
/**
* Default constructor for Accelerometer class
*/
Accelerometer::Accelerometer()
{
- calculate = new Calculate();
-
- timer = new QTimer(this);
- connect(timer, SIGNAL(timeout()), this, SLOT(processData()));
- sampleRate = 40;
- initValues();
-}
-
-/**
- * Constructor for Accelerometer class that takes accelerometer sample rate as parameter
- *
- * @param p_SampleRate the desired sample rate of accelerometer in milliseconds
- */
-Accelerometer::Accelerometer(int p_SampleRate)
-{
- calculate = new Calculate();
-
- timer = new QTimer(this);
- connect(timer, SIGNAL(timeout()), this, SLOT(processData()));
- sampleRate = p_SampleRate;
initValues();
+ calibrateDialog = NULL;
}
/**
*/
Accelerometer::~Accelerometer()
{
-}
-
-/**
- * Start measuring
- *
- */
-void Accelerometer::start()
-{
- initValues();
- calibrate();
- timer->start(sampleRate);
- now.restart();
+ if(calibrateDialog)
+ delete calibrateDialog;
}
/**
*/
void Accelerometer::initValues()
{
- calculate->reset();
- 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;
- firstRun = true;
calibrationX = 0;
calibrationY = 0;
calibrationZ = 0;
unsigned int iteration = 0;
qreal sampleX, sampleY, sampleZ;
+ calibrateDialog = new CalibrateDialog();
+ calibrateDialog->show();
+ calibrateDialog->resetProgressValue();
+ calibrateDialog->setMaxValue( kIterations + 1 );
+
do {
+ calibrateDialog->setProgressValue(iteration);
getAcceleration(sampleX, sampleY, sampleZ);
iteration++;
- } while(iteration != 1024); // 1024 times
+ } while(iteration != kIterations); // kIterations times
- calibrationX = calibrationX/1024; // division by 1024
- calibrationY = calibrationY/1024;
- calibrationZ = calibrationZ/1024;
-}
+ calibrationX = calibrationX/kIterations; // division by kIterations
+ calibrationY = calibrationY/kIterations;
+ calibrationZ = calibrationZ/kIterations;
-/**
- * Stop measuring
- *
- */
-void Accelerometer::stop()
-{
- timer->stop();
+ calibrateDialog->close();
}
/**
- * Processes Accelerometer data
- *
- * Opens the accelerometer value file for reading and reads and parses accelerometer values.
- * Forwards data to Calculate class for processing
+ * 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::processData()
+void Accelerometer::smoothData(qreal &x, qreal &y, qreal &z)
{
- getAcceleration(accelerationX, accelerationY, accelerationZ);
- //smoothData(accelerationX, accelerationY, accelerationZ);
-
- // Apply calibration
- accelerationX = accelerationX - calibrationX;
- accelerationY = accelerationY - calibrationY;
- accelerationZ = accelerationZ - calibrationZ;
-
- // If the function is run the first time, make sure that there
- // are no differences with previous and current acceleration
- if (firstRun) {
- previousAccelerationX = accelerationX;
- previousAccelerationY = accelerationY;
- previousAccelerationZ = accelerationZ;
- firstRun = false;
- }
-
- // Calculate the current acceleration for each axis
- trueAccelerationX = (accelerationX - previousAccelerationX);
- trueAccelerationY = (accelerationY - previousAccelerationY);
- trueAccelerationZ = (accelerationZ - previousAccelerationZ);
+ x = (previousAccelerationX * (1 - kFilteringFactor)) + (x * kFilteringFactor);
+ y = (previousAccelerationY * (1 - kFilteringFactor)) + (y * kFilteringFactor);
+ z = (previousAccelerationZ * (1 - kFilteringFactor)) + (z * kFilteringFactor);
- previousAccelerationX = accelerationX;
- previousAccelerationY = accelerationY;
- previousAccelerationZ = accelerationZ;
-
- currentAcceleration = sqrt((trueAccelerationX * trueAccelerationX) +
- (trueAccelerationY * trueAccelerationY) +
- (trueAccelerationZ * trueAccelerationZ));
-
- // Discrimination window for currentAcceleration
- if ( fabs(currentAcceleration) < 0.10 ) { currentAcceleration = 0; }
-
- // Measure time interval
- intervalTime = now.restart();
- intervalTime = intervalTime/1000; // millisecs to secs
- totalTime = totalTime + intervalTime;
-
- // Using calculate class to calculate velocity and distance etc.
- calculate->calculateParameters(currentAcceleration,intervalTime );
-
- currentSpeed = calculate->getCurrentSpeed();
- distanceTraveled = calculate->getDistanceTraveled();
+ previousAccelerationX = x;
+ previousAccelerationY = y;
+ previousAccelerationZ = z;
}
/**
- * Smooths Accelerometer data
+ * 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::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++;
-}
-
void Accelerometer::getAcceleration(qreal &x, qreal &y, qreal &z)
{
- /*
- QFile file(kFileName);
- 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);
-
- x = rx.cap(1).toInt()/1000;
- y = rx.cap(2).toInt()/1000;
- z = rx.cap(3).toInt()/1000;
-
- file.close();
- */
-
QDBusConnection connection(QDBusConnection::systemBus());
if (connection.isConnected()) {
QDBusInterface interface("com.nokia.mce", "/com/nokia/icd", QString(), connection);
}
/**
- * Set the sample rate of accelerometer
+ * Get the x calibration component
*
- * @param pSampleRate desired sample rate
+ * @return calibrationX x calibration component
*/
-void Accelerometer::setSampleRate(int pSampleRate)
+qreal Accelerometer::getCalibrationX()
{
- sampleRate = pSampleRate;
+ return calibrationX;
}
/**
- * Get the sample rate of accelerometer
+ * Get the y calibration component
*
- * @return sampleRate the sample rate of the accelerometer in milliseconds
+ * @return calibrationY y calibration component
*/
-int Accelerometer::getSampleRate()
-{
- return sampleRate;
-}
-
-qreal Accelerometer::getCurrentAcceleration()
-{
- return currentAcceleration;
-}
-
-qreal Accelerometer::getPreviousTotalAcceleration()
-{
- return previousAcceleration;
-}
-
-qreal Accelerometer::getTotalAcceleration()
-{
- return totalAcceleration;
-}
-
-qreal Accelerometer::getDistanceTraveled()
-{
- return distanceTraveled;
-}
-
-qreal Accelerometer::getLastDistanceTraveled()
-{
- return lastDistanceTraveled;
-}
-
-qreal Accelerometer::getAverageSpeed()
-{
- return averageSpeed;
-}
-
-qreal Accelerometer::getTrueAccelerationX()
-{
- return trueAccelerationX;
-}
-
-qreal Accelerometer::getTrueAccelerationY()
-{
- return trueAccelerationY;
-}
-
-qreal Accelerometer::getTrueAccelerationZ()
-{
- return trueAccelerationZ;
-}
-
-qreal Accelerometer::getPreviousSpeed()
-{
- return previousSpeed;
-}
-
-qreal Accelerometer::getCurrentSpeed()
-{
- return currentSpeed;
-}
-
-qreal Accelerometer::getIntervalTime()
-{
- return intervalTime;
-}
-
-qreal Accelerometer::getTotalTime()
-{
- return totalTime;
-}
-
-qreal Accelerometer::getCalibrationX()
-{
- return calibrationX;
-}
-
qreal Accelerometer::getCalibrationY()
{
return calibrationY;
}
+/**
+ * Get the z calibration component
+ *
+ * @return calibrationZ z calibration component
+ */
qreal Accelerometer::getCalibrationZ()
{
return calibrationZ;
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