int acc_init(int bus) {
uint8_t buf[2];
//init and reset chip`
if (ioctl(imu_fd, I2C_SLAVE, ADXL345_I2C_ADDR) < 0) {
printf("ERROR: unable to set acc address\n");
return -1;
}
buf[0] = ADXL345_POWER_CTL;
buf[1] = ADXL345_POWER_ON;
if (write(imu_fd, buf, 2) != 2) {
printf("ERROR: couldn't write to imu\n");
return -1;
}
buf[0] = ADXL345_DATA_FORMAT;
buf[1] = ADXL345_16G | ADXL345_FULL_RES;
if (write(imu_fd, buf, 2) != 2) {
printf("ERROR: couldn't write to imu\n");
return -1;
}
//2.5V sensitivity is 256 LSB/g = 0.00390625 g/bit
//3.3V x and y sensitivity is 265 LSB/g = 0.003773584 g/bit, z is the same
acc_offsets[0] = 0.003773584;
acc_offsets[1] = 0.003773584;
acc_offsets[2] = 0.00390625;
acc_update();
}
int
newepoch_gen(char *out,epoch_item_t *ep,setup_params_t *setup)
{
char *accstr = NULL;
int elem_size = 0;
//update the accumulator
acc_update(ep->acc,ep->epls.act,ep->epls.rvk,setup);
ep->epoch++;
//sign epoch revoked list
sign_list_rsa(ep->s_rvk,setup,ep->epls.rvk);
//sign epoch added list
sign_list_rsa(ep->s_new,setup,ep->epls.act);
elem_size = element_length_in_bytes(ep->acc->elem);
accstr = (char *) malloc(elem_size);
if(!accstr) {
pbgp_error("newepoch :: %s\n",strerror(errno));
return -1;
}
element_snprintf(accstr,elem_size,"%B",ep->acc->elem);
//sign accumulator value
sign_rsa(ep->s_acc,setup,(uint8_t *)accstr);
//dump envelope
newepoch_save(out,ep,setup);
free(accstr);
return 0;
}
/*! \brief This is an example demonstrating the accelerometer
* functionalities using the accelerometer driver.
*/
int main(void)
{
volatile unsigned long i;
// switch to oscillator 0
pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
// Initialize the debug USART module.
init_dbg_rs232(FOSC0);
acc_init();
// do a loop
for (;;)
{
// slow down operations
for ( i=0 ; i < 50000 ; i++);
// display a header to user
print_dbg("\x1B[2J\x1B[H\r\n\r\nAccelerometer Example\r\n\r\n");
// Get accelerometer acquisition and process data
acc_update();
// test for fast or slow changes
// depending on that, play with angles or moves
if ( is_acc_slow() )
{
print_mouse() ;
print_angles() ;
}
else
print_move() ;
// MEUH
// only text here , needs to be combined with PWM
// meuh_stop is the "end" signal from PWM
meuh_en = is_acc_meuh( meuh_stop ) ;
}
}
//!
//! @brief Looks for mouse events.
//!
bool is_usb_mouse_event( void )
{
static uint8_t disp=1;
static uint16_t count=0;
#if BOARD != EVK1104 && BOARD != UC3C_EK && BOARD != EVK1105
static bool old_click_0=false; // false means released, true means pushed
static bool old_click_1=false; // false means released, true means pushed
#endif
#if BOARD == EVK1100
static bool old_click_2=false; // false means released, true means pushed
#endif
bool b_activity;
u8_report_buttons=0;
u8_report_disp_x=0;
u8_report_disp_y=0;
u8_report_disp_wheel=0;
b_activity=false;
#if BOARD == EVK1101
signed int res;
// Get accelerometer acquisition and process data
acc_update();
// Look joystick activity for the Wheel events
// input is pulled up, if 1 : input is not active
if( is_joystick_up() )
u8_report_disp_wheel=disp, b_activity=true;
if( is_joystick_down() )
u8_report_disp_wheel=-disp, b_activity=true;
// Look accelerometer activity for the X and Y events
if( 0!=(res=is_acc_abs_angle_x(40)) )
{
if( res>0 )
u8_report_disp_x=-10*disp, b_activity=true;
else if( res<0 )
u8_report_disp_x=10*disp, b_activity=true;
}
else if( 0!=(res=is_acc_abs_angle_x(30)) )
{
if( res>0 )
u8_report_disp_x=-6*disp, b_activity=true;
else if( res<0 )
u8_report_disp_x=6*disp, b_activity=true;
}
else if( 0!=(res=is_acc_abs_angle_x(20)) )
{
if( res>0 )
u8_report_disp_x=-4*disp, b_activity=true;
else if( res<0 )
u8_report_disp_x=4*disp, b_activity=true;
}
else if( 0!=(res=is_acc_abs_angle_x(15)) )
{
if( res>0 )
u8_report_disp_x=-2*disp, b_activity=true;
else if( res<0 )
u8_report_disp_x=2*disp, b_activity=true;
}
else if( 0!=(res=is_acc_abs_angle_x(10)) )
{
if( res>0 )
u8_report_disp_x=-disp, b_activity=true;
else if( res<0 )
u8_report_disp_x=disp, b_activity=true;
}
if( 0!=(res=is_acc_abs_angle_y(40)) )
{
if( res>0 )
u8_report_disp_y=-10*disp, b_activity=true;
else if( res<0 )
u8_report_disp_y=10*disp, b_activity=true;
}
else if( 0!=(res=is_acc_abs_angle_y(30)) )
{
if( res>0 )
u8_report_disp_y=-6*disp, b_activity=true;
else if( res<0 )
u8_report_disp_y=6*disp, b_activity=true;
}
else if( 0!=(res=is_acc_abs_angle_y(20)) )
{
if( res>0 )
u8_report_disp_y=-4*disp, b_activity=true;
else if( res<0 )
u8_report_disp_y=4*disp, b_activity=true;
}
else if( 0!=(res=is_acc_abs_angle_y(15)) )
{
if( res>0 )
u8_report_disp_y=-2*disp, b_activity=true;
else if( res<0 )
u8_report_disp_y=2*disp, b_activity=true;
}
else if( 0!=(res=is_acc_abs_angle_y(10)) )
{
if( res>0 )
u8_report_disp_y=-disp, b_activity=true;
else if( res<0 )
u8_report_disp_y=disp, b_activity=true;
}
#elif BOARD == EVK1100
// Look Joystick activity for the X and Y events
// input is pulled up, if 1 : input is not active
if (is_joystick_right())
u8_report_disp_x=disp, b_activity=true;
if (is_joystick_left())
u8_report_disp_x=-disp, b_activity=true;
if (is_joystick_down())
u8_report_disp_y=disp, b_activity=true;
if (is_joystick_up())
u8_report_disp_y=-disp, b_activity=true;
#elif BOARD == EVK1105
// Right
if (is_touch_sensor_2())
u8_report_disp_x=disp, b_activity=true;
// Left
if (is_touch_sensor_3())
u8_report_disp_x=-disp, b_activity=true;
// Down
if (is_touch_sensor_1())
u8_report_disp_y=disp, b_activity=true;
// Up
if (is_touch_sensor_0())
u8_report_disp_y=-disp, b_activity=true;
#elif BOARD == EVK1104
if (gpio_get_pin_value(GPIO_PUSH_BUTTON_SW2) == GPIO_PUSH_BUTTON_SW2_PRESSED)
u8_report_disp_y=-disp, b_activity=true;
#elif BOARD == UC3C_EK
// mouse pointer down
if( !gpio_get_pin_value(GPIO_PUSH_BUTTON_0)) {
u8_report_disp_y=disp, b_activity=true;
}
// mouse pointer up
if( !gpio_get_pin_value(GPIO_PUSH_BUTTON_1)) {
u8_report_disp_y=-disp, b_activity=true;
}
#endif
if( b_activity )
{
count++;
if( count >= DISP_LIMIT_HIGH )
disp=3;
else if( count >= DISP_LIMIT_LOW )
disp=2;
}
else
count=0, disp=1;
// Look for button activity
#if BOARD != EVK1104 && BOARD != UC3C_EK && BOARD != EVK1105
// input is pulled up, if 1 : input is not active
if( (!gpio_get_pin_value(GPIO_PUSH_BUTTON_0))
|| (is_joystick_pressed() ) )
{
Set_bits(u8_report_buttons, BUTTON_0_EVENT_PUSH);
if( old_click_0==false )
old_click_0=true, b_activity=true;
}
else
if( old_click_0==true )
old_click_0=false, b_activity=true;
if( !gpio_get_pin_value(GPIO_PUSH_BUTTON_1) )
{
Set_bits(u8_report_buttons, BUTTON_1_EVENT_PUSH);
if( old_click_1==false )
old_click_1=true, b_activity=true;
}
else
if( old_click_1==true )
old_click_1=false, b_activity=true;
#endif
#if BOARD == EVK1100
if( !gpio_get_pin_value(GPIO_PUSH_BUTTON_2) )
{
Set_bits(u8_report_buttons, BUTTON_2_EVENT_PUSH);
if( old_click_2==false )
old_click_2=true, b_activity=true;
}
else
if( old_click_2==true )
old_click_2=false, b_activity=true;
#endif
if( b_activity ) return true;
else return false;
}
void imu_update() {
acc_update();
//gyro_update();
mag_update();
}