+/*
+ * Accelerometer class to access the device accelerometer
+ *
+ * @author Rikhard Kuutti <rikhard.kuutti@fudeco.com>
+ * @author Kai Rasilainen
+ * @copyright (c) 2010 Speed Freak team
+ * @license http://opensource.org/licenses/gpl-license.php GNU Public License
+ */
+
#include "accelerometer.h"
#include "math.h"
#include <QString>
#include <QRegExp>
#include <QTimer>
+#include <QDBusConnection>
+#include <QDBusInterface>
+#include <QDBusPendingReply>
#define kFilteringFactor 0.1
#define kGravity 9.81
void Accelerometer::calibrate(void)
{
unsigned int iteration = 0;
+ qreal sampleX, sampleY, sampleZ;
do {
- // Opening the file must be done inside the loop
- // or else the values obtained from file.readLine();
- // will be empty for all but the first iteration
- QFile file(kFileName);
- if(!file.open(QIODevice::ReadOnly | QIODevice::Text))
- {
- return;
- }
-
- QByteArray line;
- QRegExp rx("([0-9-]+) ([0-9-]+) ([0-9-]+)");
-
- // Read data, parse with regular expressions and process it
- line = file.readLine();
- rx.indexIn(line);
-
- int sampleX = rx.cap(1).toInt();
- int sampleY = rx.cap(2).toInt();
- int sampleZ = rx.cap(3).toInt();
-
- calibrationX = calibrationX + sampleX; // Accumulate Samples
- calibrationY = calibrationY + sampleY; // for all axes.
- calibrationZ = calibrationZ + sampleZ;
+
+ getAcceleration(sampleX, sampleY, sampleZ);
+
+ calibrationX += sampleX; // Accumulate Samples
+ calibrationY += sampleY; // for all axes.
+ calibrationZ += sampleZ;
iteration++;
- file.close();
- } while(iteration != 1024); // 1024 times
+ } while(iteration != 1024); // 1024 times
- calibrationX = calibrationX>>10; // division by 1024
- calibrationY = calibrationY>>10;
- calibrationZ = calibrationZ>>10;
+ calibrationX = calibrationX/1024; // division by 1024
+ calibrationY = calibrationY/1024;
+ calibrationZ = calibrationZ/1024;
}
/**
}
/**
+ * Processes Accelerometer data
+ *
+ * Opens the accelerometer value file for reading and reads and parses accelerometer values.
+ * Forwards data to Calculate class for processing
+ *
+ */
+void Accelerometer::processData()
+{
+ 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);
+
+ 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();
+}
+
+/**
+ * Smooths Accelerometer 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)
+{
+ 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);
+ 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;
+ }
+}
+
+/**
* Set the sample rate of accelerometer
*
* @param pSampleRate desired sample rate
return totalTime;
}
-int Accelerometer::getCalibrationX()
+qreal Accelerometer::getCalibrationX()
{
return calibrationX;
}
-int Accelerometer::getCalibrationY()
+qreal Accelerometer::getCalibrationY()
{
return calibrationY;
}
-int Accelerometer::getCalibrationZ()
+qreal Accelerometer::getCalibrationZ()
{
return calibrationZ;
}
-
-/**
- * Processes Accelerometer data
- *
- * Opens the accelerometer value file for reading and reads and parses accelerometer values.
- * Forwards data to Calculate class for processing
- *
- */
-void Accelerometer::processData()
-{
- 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);
-
- smoothData(rx.cap(1).toInt(), rx.cap(2).toInt(), rx.cap(3).toInt());
-
- // Apply calibration
- accelerationX = accelerationX - calibrationX;
- accelerationX = accelerationY - calibrationY;
- accelerationX = 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;
- }
-
- // Discrimination window for acceleration values
- /*if ( fabs(accelerationX) < 20 ) { accelerationX = 0; }
- if ( fabs(accelerationY) < 20 ) { accelerationY = 0; }
- if ( fabs(accelerationZ) < 20 ) { accelerationZ = 0; }*/
-
- // Calculate the current acceleration for each axis
- trueAccelerationX = (accelerationX - previousAccelerationX) /*/ 1000 * kGravity*/;
- trueAccelerationY = (accelerationY - previousAccelerationY) /*/ 1000 * kGravity*/;
- trueAccelerationZ = (accelerationZ - previousAccelerationZ) /*/ 1000 * kGravity*/;
-
- // Discrimination window for acceleration values
- if ( fabs(trueAccelerationX) < 20 ) { trueAccelerationX = 0; }
- if ( fabs(trueAccelerationY) < 20 ) { trueAccelerationY = 0; }
- if ( fabs(trueAccelerationZ) < 20 ) { trueAccelerationZ = 0; }
-
- previousAccelerationX = accelerationX;
- previousAccelerationY = accelerationY;
- previousAccelerationZ = accelerationZ;
-
- currentAcceleration = sqrt(trueAccelerationX * trueAccelerationX +
- trueAccelerationY * trueAccelerationY +
- trueAccelerationZ * trueAccelerationZ );
-
- // Discrimination window for currentAcceleration
- if ( fabs(currentAcceleration) < 20 ) { 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();
-
- file.close();
-}
-
-/**
- * Smooths Accelerometer 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)
-{
- 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++;
-}
-
projects / speedfreak / blobdiff