Experimental BMA250 module for Breakout.js

AccelerometerBMA250

/**
 * Copyright (c) 2011-2014 Jeff Hoefs <[email protected]>
 * Released under the MIT license. See LICENSE file for details.
 */

JSUTILS.namespace('BO.io.AccelerometerBMA250');

/**
 * @namespace BO.io
 */
BO.io.AccelerometerBMA250 = (function () {
    "use strict";

    var AccelerometerBMA250;

    // private static constants
    var RAD_TO_DEG = 180 / Math.PI,
        DATA_RANGE = 0x0f,
        DATA_BANDWIDTH = 0x10,
        DATAX0 = 0x02,
        //ALL_AXIS =  DATAX0 | 0x80, // not sure if this will work with BMA250
        NUM_BYTES = 6;

    // dependencies
    var I2CBase = BO.I2CBase,
        AccelerometerEvent = BO.io.AccelerometerEvent;

    /**
     * Creates an interface to an BMA250 3-axis accelerometer. Use the
     * accelerometer to read the acceleration along the x, y, and z axis of an 
     * object it is attached to. You can also obtain the pitch and roll. See the
     * example in [Breakout/examples/sensors/adxl345.html](https://github.com/soundanalogous/Breakout/blob/master/examples/sensors/adxl345.html).
     *
     * @class AccelerometerBMA250
     * @constructor
     * @extends BO.I2CBase
     * @param {IOBoard} board The IOBoard instance
     * @param {Number} range The dynamic range selection in Gs (options `RANGE_2G`, `RANGE_4G`, 
     * `RANGE_8G`, `RANGE_16G`). Default is `RANGE_2G`.
     * @param {Number} bandwidth The bandwidth selection in Hz (options `)
     * @param {Number} address The i2c address of the accelerometer (default is 0x18)
     */
    AccelerometerBMA250 = function (board, range, bandwidth, address) {

        address = address || AccelerometerBMA250.DEVICE_ID;
        I2CBase.call(this, board, address);

        this.name = "AccelerometerBMA250";

        this._dynamicRange = range || AccelerometerBMA250.RANGE_2G;
        this._bandwidth = bandwidth || AccelerometerBMA250.BAND_7_81HZ;
        this._isReading = false;
        this._debugMode = BO.enableDebugging;

        this._x = 0;
        this._y = 0;
        this._z = 0;
        this._rawX = 0;
        this._rawY = 0;
        this._rawZ = 0;

        this.setBandwidth(this._bandwidth);

        // sets the dynamic range
        this.setRange(this._dynamicRange);

    };

    AccelerometerBMA250.prototype = JSUTILS.inherit(I2CBase.prototype);
    AccelerometerBMA250.prototype.constructor = AccelerometerBMA250;


    // Implement Acceleromter interface:

    Object.defineProperties(AccelerometerBMA250.prototype, {
        // Properties that apply to any accelereomter

        /**
         * [read-only] the accelerometer dynamic range in Gs (either 2G, 4G, 8G, or 16G for this sensor)..
         * @property dynamicRange
         * @type Number
         */
        dynamicRange: {
            get: function () {
                return this._dynamicRange;
            }
        },
        
        /**
         * [read-only] the accelerometer bandwidth in Hz
         * @property bandwidth
         * @type Number
         */
        bandwidth: {
            get: function () {
                return this._bandwidth;
            }
        },

        /**
         * [read-only] The acceleration value in Gs (9.8m/sec^2) along the x-axis.
         * @property x
         * @type Number
         */
        x: {
            get: function () {
                return this._x;
            }
        },

        /**
         * [read-only] The acceleration value in Gs (9.8m/sec^2) along the y-axis.
         * @property y
         * @type Number
         */
        y: {
            get: function () {
                return this._y;
            }
        },

        /**
         * [read-only] The acceleration value in Gs (9.8m/sec^2) along the z-axis.
         * @property z
         * @type Number
         */
        z: {
            get: function () {
                return this._z;
            }
        },

        /**
         * [read-only] The pitch value in degrees 
         * @property pitch
         * @type Number
         */
        pitch: {
            get: function () {
                // -180 to 180
                //return Math.atan2(this._x, this._z) * RAD_TO_DEG;
                // -90 to 90
                return Math.atan2(this._x, Math.sqrt(this._y * this._y + this._z * this._z)) * RAD_TO_DEG;
            }
        },

        /**
         * [read-only] The roll value in degrees 
         * @property roll
         * @type Number
         */
        roll: {
            get: function () {
                // -180 to 180
                //return Math.atan2(this._y, this._z) * RAD_TO_DEG;
                // -90 to 90
                return Math.atan2(this._y, Math.sqrt(this._x * this._x + this._z * this._z)) * RAD_TO_DEG;
            }
        },

        // Properties specific to this I2C Accelerometers:         

        /**
         * [read-only] The raw value of the x axis
         * @property rawX
         * @type Number
         */
        rawX: {
            get: function () {
                return this._rawX;
            }
        },

        /**
         * [read-only] The raw value of the y axis
         * @property rawY
         * @type Number
         */
        rawY: {
            get: function () {
                return this._rawY;
            }
        },

        /**
         * [read-only] The raw value of the z axis
         * @property rawZ
         * @type Number
         */
        rawZ: {
            get: function () {
                return this._rawZ;
            }
        },

        /**
         * [read-only] The state of continuous read mode. True if continuous read mode
         * is enabled, false if it is disabled.
         * @property isRunning
         * @type Boolean
         */
        isRunning: {
            get: function () {
                return this._isReading;
            }
        }
    });

    /**
     * @private
     * @method setRange
     */
    AccelerometerBMA250.prototype.setRange = function (range) {
        this.sendI2CRequest([I2CBase.WRITE, this._address, DATA_RANGE, range]);
    };

    /**
     * @private
     * @method setBandwidth
     */
    AccelerometerBMA250.prototype.setBandwidth = function (bandwidth) {
        this._bandwidth = bandwidth;
        this.sendI2CRequest([I2CBase.WRITE, this._address, DATA_BANDWIDTH, this._bandwidth]);
    };
    
    /**
     * @private
     * @method handleI2C
     */
    AccelerometerBMA250.prototype.handleI2C = function (data) {
        // data[0] contains the register address. make sure we have a match
        if (data[0] == DATAX0) {
            this.readAccel(data);
        }
    };
    
    /**
     * Start continuous reading of the sensor.
     * @method startReading
     */
    AccelerometerBMA250.prototype.startReading = function () {
        if (!this._isReading) {
            this._isReading = true;
            this.sendI2CRequest([I2CBase.READ_CONTINUOUS, this.address, DATAX0, NUM_BYTES]);
        }
    };
    
    /**
     * Stop continuous reading of the sensor.
     * @method stopReading
     */
    AccelerometerBMA250.prototype.stopReading = function () {
        this._isReading = false;
        this.sendI2CRequest([I2CBase.STOP_READING, this.address]);
    };

    /** 
     * Sends read request to accelerometer and updates accelerometer values.
     * @method update
     */
    AccelerometerBMA250.prototype.update = function () {
        if (this._isReading) {
            this.stopReading();
        }
        // read data: contents of X, Y, and Z registers
        this.sendI2CRequest([I2CBase.READ, this.address, DATAX0, NUM_BYTES]);
    };

    /**
     * @private
     * @method readAccel
     */
    AccelerometerBMA250.prototype.readAccel = function (data) {
        
        var x_val,
            y_val,
            z_val;

        if (data.length != NUM_BYTES + 1) {
            throw new Error("Incorrect number of bytes returned");
        }
        
        x_val = ((data[2] << 8) | data[1]) >> 6;
        y_val = ((data[4] << 8) | data[3]) >> 6;
        z_val = ((data[6] << 8) | data[5]) >> 6;
        
        this._rawX = x_val;
        this._rawY = y_val;
        this._rawZ = z_val;

        // TO DO: set this._x, this._y, this._z in Gs
        
        this.dispatchEvent(new AccelerometerEvent(AccelerometerEvent.UPDATE));
    };
    
    /**
     * for debugging
     * @private
     */
    AccelerometerBMA250.prototype.debug = function (str) {
        if (this._debugMode) {
            console.log(str);
        }
    };
        
    // public static constants
    
    /**
     * @property AccelerometerBMA250.RANGE_2G 
     * @static
     */
    AccelerometerBMA250.RANGE_2G = 0x03;
    /**
     * @property AccelerometerBMA250.RANGE_4G 
     * @static
     */
    AccelerometerBMA250.RANGE_4G = 0x05;
    /**
     * @property AccelerometerBMA250.RANGE_8G 
     * @static
     */
    AccelerometerBMA250.RANGE_8G = 0x08;
    /**
     * @property AccelerometerBMA250.RANGE_16G 
     * @static
     */
    AccelerometerBMA250.RANGE_16G = 0x0C;
    /**
     * @property AccelerometerBMA250.BAND_7_81HZ
     * @static
     */
    AccelerometerBMA250.BAND_7_81HZ = 0x08;
    /**
     * @property AccelerometerBMA250.BAND_15_63HZ
     * @static
     */
    AccelerometerBMA250.BAND_15_63HZ = 0x09;
    /**
     * @property AccelerometerBMA250.BAND_31_25HZ
     * @static
     */
    AccelerometerBMA250.BAND_31_25HZ = 0x0A;
    /**
     * @property AccelerometerBMA250.DEVICE_ID 
     * @static
     */
    AccelerometerBMA250.DEVICE_ID = 0x18;

    // document events

    /**
     * The update event is dispatched when the accelerometer values are updated.
     * @type BO.io.AccelerometerEvent.UPDATE
     * @event update
     * @param {BO.io.AccelerometerBMA250} target A reference to the AccelerometerBMA250 object.
     */

    return AccelerometerBMA250;

}());