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kxtj3: C/C++ driver implementation with examples
Kionix tri-axis accelerometer sensor driver * C implementation * C++ wrapper * C/C++ examples Signed-off-by: Assam Boudjelthia <assam.boudjelthia@fi.rohmeurope.com> Signed-off-by: Noel Eck <noel.eck@intel.com>
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src/kxtj3/kxtj3.hpp
Executable file
579
src/kxtj3/kxtj3.hpp
Executable file
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/*
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* The MIT License (MIT)
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*
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* Author: Assam Boudjelthia
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* Copyright (c) 2018 Rohm Semiconductor.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <vector>
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#include <mraa/gpio.hpp>
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#include "kxtj3.h"
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/**
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* @brief C API for the kxtj3 driver
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* @defgroup kxtj3 libupm-kxtj3
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* @ingroup Kionix i2c acceleromter
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*
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* @include kxtj3.cxx
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*/
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/**
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* @library kxtj3
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* @sensor kxtj3
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* @comname tri-axis accelerometer
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* @type acceleromter
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* @man Kionix
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* @con i2c
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*
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* @brief C++ API for the kxtj3 driver
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*
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* @image html kxtj3.png
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*/
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namespace upm
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{
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class KXTJ3
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{
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public:
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/**
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* @brief KXTJ3 constructor
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*
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* If no errors occur, the device is initialized with default values and set to active state
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*
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* @param bus I2C bus
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* @param addr I2C address of the sensor
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* @throws std::runtime_error on initialization failure
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*/
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KXTJ3(int bus, uint8_t addr);
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/**
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* @brief KXTJ3 destructor
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*
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* Closes the I2C context, and removes interrupts
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* Frees memory of the kxtj3_context
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*
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* @throws std::runtime_error on initialization failure
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*/
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~KXTJ3();
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/**
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* @brief Initializes the sensor with given sampling rate, resolution and acceleration range.
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* This gets called in the constructor, so it will not need to be called unless the device is reset.
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*
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* Sensor is set to standby mode during the initialization and back to active after initialization.
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*
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* @param odr One of the KXTJ3_ODR_T values
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* @param resolution One of the KXTJ3_RESOLUTION_T values
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* @param g_range One of the KXTJ3_G_RANGE_T values
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* @throws std::runtime_error on failure
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*/
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void SensorInit(KXTJ3_ODR_T odr, KXTJ3_RESOLUTION_T resolution, KXTJ3_G_RANGE_T g_range);
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/**
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* @brief Gets "who am I" value of the sensor
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*
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* @return Who am I value of the sensor
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* @throws std::runtime_error on failure
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*/
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uint8_t GetWhoAmI();
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/**
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* @brief Sets the sensor to active mode
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*
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* @throws std::runtime_error on failure
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*/
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void SensorActive();
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/**
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* @brief Sets the sensor to standby mode
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* @throws std::runtime_error on failure
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*/
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void SensorStandby();
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/**
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* @brief Sets the acceleration range of the sensor
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*
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* Sensor needs to be in standby mode when setting the acceleration range value
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*
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* Be cautious not to set g_range to 14-bits modes with the resolution being on LOW_RES
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*
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* @param g_range One of the KXTJ3_G_RANGE_T values
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* @throws std::runtime_error on failure
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*/
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void SetGRange(KXTJ3_G_RANGE_T g_range);
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/**
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* @brief Sets the resolution of the sensor. High resolution (14 bits and 12 bits) or low resolution (8 bits).
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*
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* LOW_RES valid only for ODR <= 200 Hz
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*
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* Be cautious not to set resolution to LOW_RES with the G_RANG being on 14-bits modes
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*
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* Sensor needs to be in standby mode when setting the sensor resolution
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*
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* @param resolution One of the KXTJ3_RESOLUTION_T values
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* @throws std::runtime_error on failure
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*/
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void SetResolution(KXTJ3_RESOLUTION_T resolution);
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/**
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* @brief Sets the ODR of the sensor
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*
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* Sensor needs to be in standby mode when setting the ODR
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*
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* @param odr One of the KXTJ3_ODR_T values
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* @throws std::runtime_error on failure
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*/
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void SetOdr(KXTJ3_ODR_T odr);
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/**
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* @brief Sets the ODR of the wakeup function of the sensor
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*
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* Sensor needs to be in standby mode when setting the ODR
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*
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* @param odr One of the KXTJ3_ODR_WAKEUP_T values
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* @throws std::runtime_error on failure
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*/
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void SetOdrForWakeup(KXTJ3_ODR_WAKEUP_T odr);
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/**
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* @brief Performs a self-test for digital communication of the sensor. The test sets DCST bit in
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* CTRL_REG2, then checks the DCST_RESP register for a 0xAA, after the register is read, its
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* value is 0x55 and DCST bit is cleared.
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*
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* This method is called by SensorSelfTest also
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*
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* Sensor must be in standby mode before performing this action
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*
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* @throws std::runtime_error on failure
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*/
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void SelfTestDigitalCommunication();
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/**
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* @brief Performs a self-test of the sensor. The test applies an electrostatic force to the sensor,
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* simulating input acceleration. The test compares samples from all axis before and after
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* applying the electrostatic force to the sensor. If the amount of acceleration increases according
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* to the values defined in TABLE 1 of the datasheet (0.5 g), the test passes.
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*
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* The method prints out the values before and during test and the average difference for each axis
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*
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* See the datasheet for more information
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*
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* @throws std::runtime_error on failure
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*/
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void SensorSelfTest();
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/**
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* @brief Performs a sensor software reset. The software reset clears the RAM of the sensor and resets all registers
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* to pre-defined values.
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*
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* You should call kxtj3_sensor_init() after the software reset
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*
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* See the datasheet for more details
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*
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* @throws std::runtime_error on failure
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*/
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void SensorSoftwareReset();
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/**
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* @brief Gets raw accelerometer data from the sensor
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*
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* @param x Pointer to a floating point variable to store the x-axis value. Set to NULL if not wanted.
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* @param y Pointer to a floating point variable to store the y-axis value. Set to NULL if not wanted.
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* @param z Pointer to a floating point variable to store the z-axis value. Set to NULL if not wanted.
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* @throws std::runtime_error on failure
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*/
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void GetAccelerationRaw(float *x, float *y, float *z);
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/**
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* @brief Gets converted (m/s^2) accelerometer data from the sensor
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*
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* @param x Pointer to a floating point variable to store the x-axis value. Set to NULL if not wanted.
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* @param y Pointer to a floating point variable to store the y-axis value. Set to NULL if not wanted.
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* @param z Pointer to a floating point variable to store the z-axis value. Set to NULL if not wanted.
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* @throws std::runtime_error on failure
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*/
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void GetAcceleration(float *x, float *y, float *z);
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/**
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* Gets raw acceleration data from the sensor.
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*
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* @return Acceleration vector [x, y, z]
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* @throws std::runtime_error on failure.
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*/
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std::vector<float> GetAccelerationRawVector();
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/**
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* Gets acceleration data in (m/s^2) from the sensor.
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*
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* @return Acceleration vector [x, y, z]
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* @throws std::runtime_error on failure.
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*/
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std::vector<float> GetAccelerationVector();
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/**
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* @brief Gets the duration of one sample period (in seconds) for getting the acceleration data depending on
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* the sampling rate of the sensor
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*
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* @return Floating point value of the sampling period
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* @throws std::runtime_error on failure
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*/
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float GetAccelerationSamplePeriod();
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/**
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* @brief Gets the duration of one sample period (in seconds) for the wakeup function depending on
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* the sampling rate of the sensor wakeup function
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*
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* @return Floating point value of the sampling period
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* @throws std::runtime_error on failure
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*/
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float GetWakeUpSamplePeriod();
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/**
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* @brief Enables the data ready interrupt. Availability of new acceleration data is
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* reflected as an interrupt.
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*
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* Sensor must be in standby mode before performing this action
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*
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* @throws std::runtime_error on failure
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*/
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void EnableDataReadyInterrupt();
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/**
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* @brief Disables the data ready interrupt
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*
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* Sensor must be in standby mode before performing this action
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*
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* @throws std::runtime_error on failure
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*/
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void DisableDataReadyInterrupt();
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/**
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* @brief Enables the wakeup function (motion detection)
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*
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* Sensor must be in standby mode before performing this action
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*
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* @throws std::runtime_error on failure
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*/
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void EnableWakeUpInterrupt();
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/**
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* @brief Disables the wakeup function (motion detection)
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*
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* Sensor must be in standby mode before performing this action
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*
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* @throws std::runtime_error on failure
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*/
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void DisableWakeUpInterrupt();
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/**
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* @brief Enables interrupts on the interrupt pin, sets polarity and response types.
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* Polarity ACTIVE_HIGH or ACTIVE_LOW.
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* Response either latch until cleared by reading INT_REL register, or transmit one pulse
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* Pulse width of 0.03-0.05ms.
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*
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* For Wakeup function, the response type is always latched unless set wakeup latch off
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* Sensor needs to be in standby mode when enabling the interrupt
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*
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* See datasheet for more details
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*
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* @param polarity Select the polarity of the interrupt. One of the KXTJ3_INTERRUPT_POLARITY_T values.
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* @param response_type Select the response type of the interrupt. One of the KXTJ3_INTERRUPT_RESPONSE_T values.
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* @throws std::runtime_error on failure
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*/
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void EnableInterruptPin(KXTJ3_INTERRUPT_POLARITY_T polarity, KXTJ3_INTERRUPT_RESPONSE_T response_type);
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/**
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* @brief Disables interrupts on the interrupt pin of the sensor
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*
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* Sensor needs to be in standby mode when disabling the interrupt pin
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*
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* @throws std::runtime_error on failure
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*/
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void DisableInterruptPin();
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/**
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* @brief Sets the polarity of the interrupt pin
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*
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* Polarity ACTIVE_HIGH or ACTIVE_LOW
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*
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* Sensor must be in standby mode before performing this action
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*
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* @param polarity Select the polarity of the interrupt. One of the KXTJ3_INTERRUPT_POLARITY_T values.
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* @throws std::runtime_error on failure
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*/
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void SetInterruptPolarity(KXTJ3_INTERRUPT_POLARITY_T polarity);
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/**
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* @brief Sets the response type of the interrupt pin
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*
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* Response either latch until cleared by reading INT_REL register, or transmit one pulse
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* Pulse width of 0.03-0.05ms
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*
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* For Wakeup function, the response type is always latched unless set wakeup latch off
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*
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* Sensor must be in standby mode before performing this action
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*
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* See datasheet for more details
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*
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* @param response_type Select the response type of the interrupt. One of the KXTJ3_INTERRUPT_RESPONSE_T values
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* @throws std::runtime_error on failure
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*/
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void SetInerruptResponse(KXTJ3_INTERRUPT_RESPONSE_T response_type);
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/**
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* @brief Gets the status of the interrupts. (Has an interrupt occured)
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*
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* See datasheet for more details
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*
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* @return Return true if an interrupt event has occured (DRDY or WUFS is 1),
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* returns false if no interrupts have occured
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*/
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bool GetInterruptStatus();
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/**
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* @brief Gets the source of the interrupt
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* The value stored is one or more of the KXTJ3_INTERRUPT_SOURCE_T values
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*
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* See datasheet for more details
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*
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* @return Value of the interrupt source register
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* @throws std::runtime_error on failure
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*/
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uint8_t ReadInterruptSource1();
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/**
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* @brief Gets the source of the interrupt
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*
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* See datasheet for more details
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*
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* @return One of the KXTJ3_INTERRUPT_SOURCE_T values/types
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*/
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KXTJ3_INTERRUPT_SOURCE_T GetInterruptSource();
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/**
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* @brief Installs an interrupt handler to be executed when an interrupt is detected on the interrupt pin
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* @param edge One of the mraa_gpio_edge_t values. Interrupt trigger edge.
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* @param pin The GPIO pin to use as the interrupt pin
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* @param isr Pointer to the method to be called, when the interrupt occurs
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* @param isr_args The arguments to be passed to the method
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* @return std::runtime_error on failure
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*/
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void InstallIsr(mraa_gpio_edge_t edge, int pin, void (*isr)(void *), void *isr_args);
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/**
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* @brief Uninstalls a previously installed interrupt handler for interrupt pin
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*
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* @throws std::runtime_error on failure
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*/
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void UninstallIsr();
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/**
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* @brief Clears latching interrupts information of Wakeup (with axis and direction information) and Data Ready
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*
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* See datasheet for more details
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*
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* @throws std::runtime_error on failure
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*/
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void ClearInterrupt();
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/**
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* @brief Enables wakeup interrupt for the given axis (axis with direction)
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*
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* Sensor must be in standby mode before performing this action
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*
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* @param axis The axis to enable, takes one of KXTJ3_WAKEUP_SOURCE_T value
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* @throws std::runtime_error on failure
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*/
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void EnableWakeUpSingleAxisDirection(KXTJ3_WAKEUP_SOURCE_T axis);
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/**
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* @brief Disables wakeup interrupt for the given axis (axis with direction)
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*
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* Sensor must be in standby mode before performing this action
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*
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* @param axis The axis to enable, takes one of KXTJ3_WAKEUP_SOURCE_T value
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* @throws std::runtime_error on failure
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*/
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void DisableWakeUpSingleAxisDirection(KXTJ3_WAKEUP_SOURCE_T axis);
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/**
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* @brief Gets the source axis and direction of motion detection of the wakeup function interrupt
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*
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* See datasheet for more details
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*
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* @return A kxtj3_wakeup_axes struct with values of true/false
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* for a wakeup for each axis and its direction
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*/
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kxtj3_wakeup_axes GetWakeUpAxisDirection();
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/**
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* @brief Enables the Unlached mode motion interrupt (ULMODE). This mode is always by default enabled.
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*
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* When this bit is set, the wakeup interrupt has to be cleared manually
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* (cannot use interrupt response with pulse)
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*
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* Sensor must be in standby mode before performing this action
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*
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* @throws std::runtime_error on failure
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*/
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void EnableWakeUpLatch();
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/**
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* @brief Disables the Unlached mode motion interrupt (ULMODE). This mode is always by default enabled.
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* (cannot use interrupt response with pulse)
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*
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* The wakeup threshold is advised to not be very low to avoid interrupt being triggered in
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* an almost continuous manner
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*
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* Sensor must be in standby mode before performing this action
|
||||
*
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* When this bit is cleared, and the interrupt response type is set to Pulse, then upon a wakeup event
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* the wakeup interrupt signal will pulse and return low, but only once. Then, the interrupt
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* output will not reset until data is read or interrupt cleared.
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* @throws std::runtime_error on failure
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*/
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void DisableWakeUpLatch();
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/**
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* @brief Sets the timer counter of motion before sending a wakeup interrupt
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*
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* The count is limited to values from 1 to 255
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||||
*
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* Every count is calculated as (1 / Wakeup_ODR_FREQUENCY) where Wakeup_ODR_FREQUENCY
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||||
* is the current odr_in_Hz value from odr_map_in_Hz_wakeup value
|
||||
*
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||||
* Sensor must be in standby mode before performing this action
|
||||
*
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* See datasheet for more details
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||||
*
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* @param count The timer count from 1 to 255
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||||
* @throws std::runtime_error on failure
|
||||
*/
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void SetWakeUpMotionCounter(uint8_t count);
|
||||
|
||||
/**
|
||||
* @brief Sets the timer of motion before sending a wakeup interrupt
|
||||
*
|
||||
* the desired time should be such that (0 < desired_time * wakeup_odr_frequency <= 255)
|
||||
*
|
||||
* Sensor must be in standby mode before performing this action
|
||||
*
|
||||
* See datasheet for more details
|
||||
*
|
||||
* @param desired_time The desired time in seconds
|
||||
* @throws std::runtime_error on failure
|
||||
*/
|
||||
void SetWakeUpMotionTime(float desired_time);
|
||||
|
||||
/**
|
||||
* @brief Get the current count value of the timer of motion before sending a wakeup interrupt
|
||||
*
|
||||
* @return Time value in seconds
|
||||
* @throws std::runtime_error on failure
|
||||
*/
|
||||
float GetWakeUpMotionTime();
|
||||
|
||||
/**
|
||||
* @brief Sets the timer counter of non-activity before sending another wakeup interrupt
|
||||
*
|
||||
* The count is limited to values from 1 to 255
|
||||
*
|
||||
* Every count is calculated as (1 / Wakeup_ODR_FREQUENCY) where Wakeup_ODR_FREQUENCY
|
||||
* is the current odr_in_Hz value from odr_map_in_Hz_wakeup value
|
||||
*
|
||||
* Sensor must be in standby mode before performing this action
|
||||
*
|
||||
* See datasheet for more details
|
||||
*
|
||||
* @param count The timer count from 1 to 255
|
||||
* @throws std::runtime_error on failure
|
||||
*/
|
||||
void SetWakeUpNonActivityCounter(uint8_t count);
|
||||
|
||||
/**
|
||||
* @brief Sets the timer of non-activity before sending another wakeup interrupt
|
||||
*
|
||||
* the desired time should be such that (0 < desired_time * wakeup_odr_frequency <= 255)
|
||||
*
|
||||
* Sensor must be in standby mode before performing this action
|
||||
*
|
||||
* See datasheet for more details
|
||||
*
|
||||
* @param desired_time The desired time in seconds
|
||||
* @throws std::runtime_error on failure
|
||||
*/
|
||||
void SetWakeUpNonActivityTime(float desired_time);
|
||||
|
||||
/**
|
||||
* @brief Get the current count value of the timer of non-activity before sending another wakeup interrupt
|
||||
*
|
||||
* @return Time value in seconds
|
||||
* @throws std::runtime_error on failure
|
||||
*/
|
||||
float GetWakeUpNonActivityTime();
|
||||
|
||||
/**
|
||||
* @brief Sets the threshold counter for acceleration difference before sending a wakeup interrupt
|
||||
*
|
||||
* The count is limited to values from 1 to 4096, that it is 16g threshold with (3.9mg/count)
|
||||
* It is advised to not set the threshold to a very low value which may cause bad behaviour
|
||||
* in the wakeup interrupt
|
||||
*
|
||||
* Sensor must be in standby mode before performing this action
|
||||
*
|
||||
* See datasheet for more details
|
||||
*
|
||||
* @param count The timer count from 1 to 4096, that it is 16g threshold with (3.9mg/count)
|
||||
* @throws std::runtime_error on failure
|
||||
*/
|
||||
void SetWakeUpThresholdCounter(uint16_t count);
|
||||
|
||||
/**
|
||||
* @brief Sets the threshold g value for acceleration difference before sending a wakeup interrupt
|
||||
*
|
||||
* The count is limited to values up to 16g, with steps of 3.9mg. It is advised to not set
|
||||
* the threshold to a very low value which may cause bad behaviour in the wakeup interrupt
|
||||
*
|
||||
* Sensor must be in standby mode before performing this action
|
||||
*
|
||||
* See datasheet for more details
|
||||
*
|
||||
* @param g_threshold The acceleration threshold (in g) in g, from 3.9mg to 16g, steps of 3.9mg/count.
|
||||
* @throws std::runtime_error on failure
|
||||
*/
|
||||
void SetWakeUpThresholdGRange(float g_threshold);
|
||||
|
||||
/**
|
||||
* @brief Get the current threshold difference value before sending wakeup interrupt
|
||||
*
|
||||
* @return Threshold value in g
|
||||
* @throws std::runtime_error on failure
|
||||
*/
|
||||
float GetWakeUpThresholdGRange();
|
||||
|
||||
private:
|
||||
kxtj3_context m_kxtj3;
|
||||
};
|
||||
} // namespace upm
|
||||
Reference in New Issue
Block a user