initial code import

8 files changed, 323 insertions, 0 deletions

diff --git a/sensors/accelerometer.vala b/sensors/accelerometer.vala
new file mode 100644
index 0000000..27b47f0
--- /dev/null
+++ b/sensors/accelerometer.vala
@@ -0,0 +1,18 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public interface Accelerometer : Device {
+	public abstract void get_data(out uint16 x, out uint16 y, out uint16 z) throws Error;
+}
diff --git a/sensors/accelerometer/accelerometer-adxl345.vala b/sensors/accelerometer/accelerometer-adxl345.vala
new file mode 100644
index 0000000..ed9947f
--- /dev/null
+++ b/sensors/accelerometer/accelerometer-adxl345.vala
@@ -0,0 +1,44 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public class ADXL345 : I2CDevice, Accelerometer {
+	public ADXL345(uint8 dev, uint8 addr = 0x53) throws I2CError {
+			base(dev, addr);
+	}
+
+	public uint8 get_address() throws I2CError {
+		var addr = get_byte(0x00);
+		assert(addr == 0xe5);
+		return addr;
+	}
+
+	public void get_offset(out uint8 x, out uint8 y, out uint8 z) throws I2CError {
+		x = get_byte(0x1E);
+		y = get_byte(0x1F);
+		z = get_byte(0x20);
+	}
+
+	public void set_offset(uint8 x, uint8 y, uint8 z) throws I2CError {
+		set_byte(0x1E, x);
+		set_byte(0x1F, y);
+		set_byte(0x20, z);
+	}
+
+	public void get_data(out uint16 x, out uint16 y, out uint16 z) throws I2CError {
+		x = get_big_word(0x32);
+		y = get_big_word(0x34);
+		z = get_big_word(0x36);
+	}
+}
diff --git a/sensors/barometer.vala b/sensors/barometer.vala
new file mode 100644
index 0000000..5c1f4f9
--- /dev/null
+++ b/sensors/barometer.vala
@@ -0,0 +1,23 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public interface Barometer : Device {
+	public abstract int32 get_pressure() throws Error;
+
+	public double get_altitude(int32 base_pressure) throws Error {
+		int32 p = get_pressure();
+		return (44330.0 * (1.0 - Posix.pow(p / base_pressure, 1.0 / 5.255)));
+	}
+}
diff --git a/sensors/barometer/barometer-bmp085.vala b/sensors/barometer/barometer-bmp085.vala
new file mode 100644
index 0000000..92ea917
--- /dev/null
+++ b/sensors/barometer/barometer-bmp085.vala
@@ -0,0 +1,128 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public class BMP085 : I2CDevice, Barometer {
+	public uint8 oversampling_setting = 0x03;
+	private Calibration cal = Calibration();
+
+	private int64 next_temp_measurement;
+	private int raw_temp;
+	private int raw_pressure;
+
+	private int64 temp_correction_coefficient;
+
+	struct Calibration {
+		int16 AC1;
+		int16 AC2;
+		int16 AC3;
+		uint16 AC4;
+		uint16 AC5;
+		uint16 AC6;
+		int16 B1;
+		int16 B2;
+		int16 MB;
+		int16 MC;
+		int16 MD;
+	}
+
+	public BMP085(uint8 dev, uint8 addr = 0x77) throws I2CError {
+			base(dev, addr);
+			read_calibration_values();
+	}
+
+	private void read_calibration_values() throws I2CError {
+		var data = get_block(0xaa, 22);
+		cal.AC1 =  data[0] << 8 | data[1];
+		cal.AC2 =  data[2] << 8 | data[3];
+		cal.AC3 =  data[4] << 8 | data[5];
+		cal.AC4 =  data[6] << 8 | data[7];
+		cal.AC5 =  data[8] << 8 | data[9];
+		cal.AC6 = data[10] << 8 | data[11];
+		cal.B1  = data[12] << 8 | data[13];
+		cal.B2  = data[14] << 8 | data[15];
+		cal.MB  = data[16] << 8 | data[17];
+		cal.MC  = data[18] << 8 | data[19];
+
+		cal.MD  = data[20] << 8 | data[21];
+	}
+
+	private void msleep(uint msecs) {
+		Posix.usleep(msecs*1000);
+	}
+
+	private void update_raw_temperature() throws I2CError {
+		set_byte(0xf4, 0x2e);
+		msleep(5);
+		var data = get_block(0xf6, 2);
+		raw_temp = data[0] << 8 | data[1];
+		next_temp_measurement = time_t() + 1;
+	}
+
+	private void update_raw_pressure() throws I2CError {
+		set_byte(0xf4, 0x34 + (oversampling_setting<<6));
+		msleep(2+(3 << oversampling_setting<<1));
+		var data = get_block(0xf6, 3);
+		raw_pressure = data[0] << 16 | data[1] << 8 | data[2];
+		raw_pressure >>= 8-oversampling_setting;
+	}
+
+	public int32 get_temperature() throws I2CError {
+		if(next_temp_measurement+1 < time_t())
+			update_raw_temperature();
+
+		int64 x1 = ((raw_temp - cal.AC6) * cal.AC5) >> 15;
+		int64 x2 = (cal.MC << 11) / (x1 + cal.MD);
+		temp_correction_coefficient = x1 + x2 - 4000;
+
+		return (int32) (x1+x2+8) >> 4;
+	}
+
+	public int32 get_pressure() throws I2CError {
+		int64 x1, x2, x3, b3, p;
+		uint64 b4, b7;
+
+		if(next_temp_measurement+1 < time_t())
+			get_temperature();
+
+		update_raw_pressure();
+
+		x1 = (temp_correction_coefficient * temp_correction_coefficient) >> 12;
+		x1 *= cal.B2;
+		x1 >>= 11;
+
+		x2 = cal.AC2 * temp_correction_coefficient;
+		x2 >>= 11;
+
+		x3 = x1 + x2;
+
+		b3 = (((((int64)cal.AC1) * 4 + x3) << oversampling_setting) + 2) >> 2;
+
+		x1 = (cal.AC3 * temp_correction_coefficient) >> 13;
+		x2 = (cal.B1 * ((temp_correction_coefficient * temp_correction_coefficient) >> 12)) >> 16;
+		x3 = (x1 + x2 + 2) >> 2;
+		b4 = (cal.AC4 * (uint64)(x3 + 32768)) >> 15;
+
+		b7 = ((uint64)raw_pressure - b3) * (50000 >> oversampling_setting);
+		p = (int64) ((b7 < 0x80000000) ? ((b7 << 1) / b4) : ((b7 / b4) * 2));
+
+		x1 = p >> 8;
+		x1 *= x1;
+		x1 = (x1 * 3038) >> 16;
+		x2 = (-7357 * p) >> 16;
+		p += (x1 + x2 + 3791) >> 4;
+
+		return (int32) p;
+	}
+}
diff --git a/sensors/compass.vala b/sensors/compass.vala
new file mode 100644
index 0000000..b62cb3c
--- /dev/null
+++ b/sensors/compass.vala
@@ -0,0 +1,18 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public interface Compass : Device {
+	public abstract void get_data(out uint16 x, out uint16 y, out uint16 z) throws Error;
+}
diff --git a/sensors/compass/compass-hmc5843.vala b/sensors/compass/compass-hmc5843.vala
new file mode 100644
index 0000000..b09b054
--- /dev/null
+++ b/sensors/compass/compass-hmc5843.vala
@@ -0,0 +1,26 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public class HMC5843 : I2CDevice, Compass {
+	public HMC5843(uint8 dev, uint8 addr = 0x1e) throws I2CError {
+			base(dev, addr);
+	}
+
+	public void get_data(out uint16 x, out uint16 y, out uint16 z) throws I2CError {
+		x = get_big_word(0x03);
+		y = get_big_word(0x05);
+		z = get_big_word(0x07);
+	}
+}
diff --git a/sensors/gyroscope.vala b/sensors/gyroscope.vala
new file mode 100644
index 0000000..165df73
--- /dev/null
+++ b/sensors/gyroscope.vala
@@ -0,0 +1,18 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public interface Gyroscope : Device {
+	public abstract void get_data(out int16 x, out int16 y, out int16 z) throws Error;
+}
diff --git a/sensors/gyroscope/gyroscope-itg3200.vala b/sensors/gyroscope/gyroscope-itg3200.vala
new file mode 100644
index 0000000..c57aa55
--- /dev/null
+++ b/sensors/gyroscope/gyroscope-itg3200.vala
@@ -0,0 +1,48 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public class ITG3200 : I2CDevice, Gyroscope {
+	public ITG3200(uint8 dev, uint8 addr = 0x68) throws I2CError {
+			base(dev, addr);
+	}
+
+	public uint8 get_address() throws I2CError {
+		return (uint8) get_byte(0x00);
+	}
+
+	/* TODO: add method for register 0x16 (frequency + range) */
+	/* TODO: add method for register 0x17 (interrupt config) */
+	/* TODO: add method for register 0x3E (power management) */
+
+	public uint8 get_sample_rate_divider() throws I2CError {
+		/* sample rate = internal frequency / (divider + 1) */
+		return (uint8) get_byte(0x15);
+	}
+
+	public void set_sample_rate_divider(uint8 val) throws I2CError {
+		set_byte(0x15, val);
+	}
+
+	public int16 get_temperature() throws I2CError {
+		int16 raw = (int16) get_big_word(0x1b);
+		return 350 + ((raw + 13200) / 28);
+	}
+
+	public void get_data(out int16 x, out int16 y, out int16 z) throws I2CError {
+		x = (int16) get_big_word(0x1d);
+		y = (int16) get_big_word(0x1f);
+		z = (int16) get_big_word(0x21);
+	}
+}