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mma7660: Initial implementation

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This was tested on the Grove I2C 3-axis digital accelerometer.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>
This commit is contained in:
Jon Trulson
2015-01-30 18:43:10 -07:00
committed by John Van Drasek
parent e0e9405634
commit 12c290de70
8 changed files with 725 additions and 0 deletions
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3
examples/CMakeLists.txt
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@@ -80,6 +80,7 @@ add_executable (rotaryencoder-example rotaryencoder.cxx)
add_executable (adxl345-example adxl345.cxx)
add_executable (rpr220-example rpr220.cxx)
add_executable (rpr220-intr-example rpr220-intr.cxx)
add_executable (mma7660-example mma7660.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -145,6 +146,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/my9221)
include_directories (${PROJECT_SOURCE_DIR}/src/rotaryencoder)
include_directories (${PROJECT_SOURCE_DIR}/src/adxl345)
include_directories (${PROJECT_SOURCE_DIR}/src/rpr220)
include_directories (${PROJECT_SOURCE_DIR}/src/mma7660)
target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -228,3 +230,4 @@ target_link_libraries (rotaryencoder-example rotaryencoder ${CMAKE_THREAD_LIBS_I
target_link_libraries (adxl345-example adxl345 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (rpr220-example rpr220 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (rpr220-intr-example rpr220 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (mma7660-example mma7660 ${CMAKE_THREAD_LIBS_INIT})

83
examples/javascript/mma7660.js Normal file
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@@ -0,0 +1,83 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* Author: Zion Orent <zorent@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
var digitalAccelerometer = require('jsupm_mma7660');
// Instantiate an MMA7660 on I2C bus 0
var myDigitalAccelerometer = new digitalAccelerometer.MMA7660(
digitalAccelerometer.MMA7660_I2C_BUS,
digitalAccelerometer.MMA7660_DEFAULT_I2C_ADDR
);
// place device in standby mode so we can write registers
myDigitalAccelerometer.setModeStandby();
// enable 64 samples per second
myDigitalAccelerometer.setSampleRate(digitalAccelerometer.MMA7660.AUTOSLEEP_64);
// place device into active mode
myDigitalAccelerometer.setModeActive();
var myInterval = setInterval(function()
{
var x, y, z;
x = digitalAccelerometer.new_intp();
y = digitalAccelerometer.new_intp();
z = digitalAccelerometer.new_intp();
myDigitalAccelerometer.getRawValues(x, y, z);
var outputStr = "Raw values: x = " + digitalAccelerometer.intp_value(x) +
" y = " + digitalAccelerometer.intp_value(y) +
" z = " + digitalAccelerometer.intp_value(z);
console.log(outputStr);
var ax, ay, az;
ax = digitalAccelerometer.new_floatp();
ay = digitalAccelerometer.new_floatp();
az = digitalAccelerometer.new_floatp();
myDigitalAccelerometer.getAcceleration(ax, ay, az);
outputStr = "Acceleration: x = " + roundNum(digitalAccelerometer.floatp_value(ax), 6) +
"g y = " + roundNum(digitalAccelerometer.floatp_value(ay), 6) +
"g z = " + roundNum(digitalAccelerometer.floatp_value(az), 6) + "g";
console.log(outputStr);
}, 500);
// round off output to match C example, which has 6 decimal places
function roundNum(num, decimalPlaces)
{
var extraNum = (1 / (Math.pow(10, decimalPlaces) * 1000));
return (Math.round((num + extraNum) * (Math.pow(10, decimalPlaces))) / Math.pow(10, decimalPlaces));
}
// When exiting: clear interval and print message
process.on('SIGINT', function()
{
clearInterval(myInterval);
console.log("Exiting...");
process.exit(0);
});

86
examples/mma7660.cxx Normal file
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@@ -0,0 +1,86 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include <signal.h>
#include <iostream>
#include "mma7660.h"
using namespace std;
int shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an MMA7660 on I2C bus 0
upm::MMA7660 *accel = new upm::MMA7660(MMA7660_I2C_BUS,
MMA7660_DEFAULT_I2C_ADDR);
// place device in standby mode so we can write registers
accel->setModeStandby();
// enable 64 samples per second
accel->setSampleRate(upm::MMA7660::AUTOSLEEP_64);
// place device into active mode
accel->setModeActive();
while (shouldRun)
{
int x, y, z;
accel->getRawValues(&x, &y, &z);
cout << "Raw values: x = " << x
<< " y = " << y
<< " z = " << z
<< endl;
float ax, ay, az;
accel->getAcceleration(&ax, &ay, &az);
cout << "Acceleration: x = " << ax
<< "g y = " << ay
<< "g z = " << az
<< "g" << endl;
usleep(500000);
}
//! [Interesting]
cout << "Exiting..." << endl;
delete accel;
return 0;
}

5
src/mma7660/CMakeLists.txt Normal file
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@@ -0,0 +1,5 @@
set (libname "mma7660")
set (libdescription "upm mma7660 I2C 3-axis digital accelermeter (1.5g)")
set (module_src ${libname}.cxx)
set (module_h ${libname}.h)
upm_module_init()

13
src/mma7660/jsupm_mma7660.i Normal file
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@@ -0,0 +1,13 @@
%module jsupm_mma7660
%include "../upm.i"
%include "cpointer.i"
/* Send "int *" and "float *" to JavaScript as intp and floatp */
%pointer_functions(int, intp);
%pointer_functions(float, floatp);
%{
#include "mma7660.h"
%}
%include "mma7660.h"

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src/mma7660/mma7660.cxx Normal file
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@@ -0,0 +1,249 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <string>
#include "mma7660.h"
using namespace upm;
using namespace std;
MMA7660::MMA7660(int bus, uint8_t address)
{
m_addr = address;
m_isrInstalled = false;
// setup our i2c link
if ( !(m_i2c = mraa_i2c_init(bus)) )
{
cerr << "MMA7660: mraa_i2c_init() failed." << endl;
return;
}
mraa_result_t rv;
if ( (rv = mraa_i2c_address(m_i2c, m_addr)) != MRAA_SUCCESS)
{
cerr << "MMA7660: Could not initialize i2c bus. " << endl;
mraa_result_print(rv);
return;
}
}
MMA7660::~MMA7660()
{
if (m_isrInstalled)
uninstallISR();
setModeStandby();
mraa_i2c_stop(m_i2c);
}
bool MMA7660::writeByte(uint8_t reg, uint8_t byte)
{
mraa_result_t rv = mraa_i2c_write_byte_data(m_i2c, byte, reg);
if (rv != MRAA_SUCCESS)
{
cerr << __FUNCTION__ << ": mraa_i2c_write_byte() failed." << endl;
mraa_result_print(rv);
return false;
}
return true;
}
uint8_t MMA7660::readByte(uint8_t reg)
{
return mraa_i2c_read_byte_data(m_i2c, reg);
}
void MMA7660::getRawValues(int *x, int *y, int *z)
{
*x = getVerifiedAxis(REG_XOUT);
*y = getVerifiedAxis(REG_YOUT);
*z = getVerifiedAxis(REG_ZOUT);
}
void MMA7660::setModeActive()
{
uint8_t modeReg = readByte(REG_MODE);
// The D2 (TON bit) should be cleared, and the MODE bit set
modeReg &= ~MODE_TON;
modeReg |= MODE_MODE;
writeByte(REG_MODE, modeReg);
}
void MMA7660::setModeStandby()
{
uint8_t modeReg = readByte(REG_MODE);
// the D0 (mode bit) and D2 (TON bit) should be cleared.
modeReg &= ~MODE_TON;
modeReg &= ~MODE_MODE;
writeByte(REG_MODE, modeReg);
}
// read an axis value, verifying it's validity
int MMA7660::getVerifiedAxis(MMA7660_REG_T axis)
{
// We only want one of the 3 axes
if (axis > 2)
{
cerr << __FUNCTION__ << ": axis must be 0, 1, or 2." << endl;
return 0;
}
// we need to check the alert bit and sign bits if the alert bit is
// set, this means that the register was being updated when the
// register was read, so re-read until it's clear.
uint8_t val;
do {
val = readByte(axis);
// check alert bit
} while (val & 0x40);
// shift the sign bit over, and compensate
return (char(val << 2) / 4);
}
// read the tilt register, verifying it's validity
uint8_t MMA7660::getVerifiedTilt()
{
// we need to check the alert bit and sign bits if the alert bit is
// set, this means that the register was being updated when the
// register was read, so re-read until it's clear.
uint8_t val;
do {
val = readByte(REG_TILT);
// check alert bit
} while (val & 0x40);
// shift the sign bit over, and compensate
return val;
}
uint8_t MMA7660::tiltBackFront()
{
uint8_t val = getVerifiedTilt();
// mask off the bits we don't care about
val &= 0x03;
return val;
}
uint8_t MMA7660::tiltLandscapePortrait()
{
uint8_t val = getVerifiedTilt();
// mask off the bits we don't care about
val >>= 2;
val &= 0x07;
return val;
}
bool MMA7660::tiltTap()
{
uint8_t val = getVerifiedTilt();
if (val & 0x20)
return true;
else
return false;
}
bool MMA7660::tiltShake()
{
uint8_t val = getVerifiedTilt();
if (val & 0x80)
return true;
else
return false;
}
void MMA7660::installISR(int pin, void (*isr)(void *), void *arg)
{
if (m_isrInstalled)
uninstallISR();
if ( !(m_gpio = mraa_gpio_init(pin)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init() failed" << endl;
return;
}
mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
// install our interrupt handler
mraa_gpio_isr(m_gpio, MRAA_GPIO_EDGE_RISING,
isr, arg);
m_isrInstalled = true;
}
void MMA7660::uninstallISR()
{
if (!m_isrInstalled)
return;
mraa_gpio_isr_exit(m_gpio);
m_isrInstalled = false;
mraa_gpio_close(m_gpio);
}
bool MMA7660::setInterruptBits(uint8_t ibits)
{
return writeByte(REG_INTSU, ibits);
}
bool MMA7660::setSampleRate(MMA7660_AUTOSLEEP_T sr)
{
return writeByte(REG_SR, sr);
}
void MMA7660::getAcceleration(float *ax, float *ay, float *az)
{
int x, y, z;
getRawValues(&x, &y, &z);
// 21.33, typical counts/g
*ax = x/21.33;
*ay = y/21.33;
*az = z/21.33;
}

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src/mma7660/mma7660.h Normal file
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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <string>
#include <mraa/i2c.h>
#include <mraa/gpio.h>
#define MMA7660_I2C_BUS 0
#define MMA7660_DEFAULT_I2C_ADDR 0x4c
namespace upm {
/**
* @brief C++ API for the MMA7660 I2C 3-axis digital accelerometer
*
* UPM module for the MMA7660 I2C 3-axis digital accelerometer.
* This device supports a variety of capabilities, including the
* generation of interrupts for various conditions, tilt and basic
* gesture detection, and of course X/Y/Z measurements of g-forces
* being applied (up to 1.5g).
*
* This module was tested with the Grove 3-Axis Digital
* Accelerometer (1.5g)
*
* @ingroup i2c gpio mma7660
* @snippet mma7660.cxx Interesting
*/
class MMA7660 {
public:
// MMA7660 registers
typedef enum { REG_XOUT = 0x00,
REG_YOUT = 0x01,
REG_ZOUT = 0x02,
REG_TILT = 0x03,
REG_SRST = 0x04, // Sampling Rate Status
REG_SPCNT = 0x05, // sleep count
REG_INTSU = 0x06, // Interrupt setup
REG_MODE = 0x07, // operating mode
REG_SR = 0x08, // auto wake/sleep, SPS and debounce
REG_PDET = 0x09, // tap detection
REG_PD = 0x0a // tap debounce count
// 0x0b-0x1f reserved
} MMA7660_REG_T;
// interrupt enable register bits
typedef enum { INTR_NONE = 0x00, // disabled
INTR_FBINT = 0x01, // front/back
INTR_PLINT = 0x02, // up/down/right/left
INTR_PDINT = 0x04, // tap detection
INTR_ASINT = 0x08, // exit autosleep
INTR_GINT = 0x10, // measurement intr
INTR_SHINTZ = 0x20, // shake on Z
INTR_SHINTY = 0x40, // shake on Y
INTR_SHINTX = 0x80 // shake on X
} MMA7660_INTR_T;
// operating mode register bits
typedef enum { MODE_MODE = 0x01, // determines mode with MODE_TON
// 0x02 reserved
MODE_TON = 0x04, // determines mode with MODE_MODE
MODE_AWE = 0x08, // auto-wake
MODE_ASE = 0x10, // auto-sleep
MODE_SCPS = 0x20, // sleep count pre-scale
MODE_IPP = 0x40, // intr out push-pull/open drain
MODE_IAH = 0x80 // intr active low/high
} MMA7660_MODE_T;
// tilt BackFront (BF) bits
typedef enum { BF_UNKNOWN = 0x00,
BF_LYING_FRONT = 0x01,
BF_LYING_BACK = 0x02
} MMA7660_TILT_BF_T;
// tilt LandscapePortrait (LP) bits
typedef enum { LP_UNKNOWN = 0x00,
LP_LANDSCAPE_LEFT = 0x01,
LP_LANDSCAPE_RIGHT = 0x02,
LP_VERT_DOWN = 0x05,
LP_VERT_UP = 0x06
} MMA7660_TILT_LP_T;
// sample rate (auto sleep) values
typedef enum { AUTOSLEEP_120 = 0x00,
AUTOSLEEP_64 = 0x01,
AUTOSLEEP_32 = 0x02,
AUTOSLEEP_16 = 0x03,
AUTOSLEEP_8 = 0x04,
AUTOSLEEP_4 = 0x05,
AUTOSLEEP_2 = 0x06,
AUTOSLEEP_1 = 0x07
} MMA7660_AUTOSLEEP_T;
/**
* mma7660 constructor
*
* @param bus i2c bus to use
* @param address the address for this sensor; default is 0x55
*/
MMA7660(int bus, uint8_t address = MMA7660_DEFAULT_I2C_ADDR);
/**
* MMA7660 Destructor
*/
~MMA7660();
/**
* Write byte value into register
*
* @param reg register location to write into
* @param byte byte to write
* @return true if successful
*/
bool writeByte(uint8_t reg, uint8_t byte);
/**
* Read byte value from register
*
* @param reg register location to read from
* @return value at specified register
*/
uint8_t readByte(uint8_t reg);
/**
* Read current value of conversion
*
* @param x returned x value
* @param y returned y value
* @param z returned z value
*/
void getRawValues(int *x, int *y, int *z);
/**
* Get the computed acceleration
*
* @param ax returned computed acceleration of X axis
* @param ay returned computed acceleration of Y axis
* @param az returned computed acceleration of Z axis
*/
void getAcceleration(float *ax, float *ay, float *az);
/**
* Read an axis, verifying it's validity. The value passed must
* be one of REG_XOUT, REG_YOUT, or REG_ZOUT.
*
* @param axis axis to read
* @return axis value
*/
int getVerifiedAxis(MMA7660_REG_T axis);
/**
* Read the tilt register, verifying it's validity.
*
* @return tilt value
*/
uint8_t getVerifiedTilt();
/**
* Put the device into active mode. In active mode, register
* write are not allowed. Place the device in Standby mode before
* attempting to write registers.
*
*/
void setModeActive();
/**
* Put the device into Standby (power saving) mode. Note, when in
* standby mode, there will be no valid data in the registers. In
* addition, the only way to write a register is to place the
* device in standby mode.
*
*/
void setModeStandby();
/**
* Read tilt BackFront bits
*
* The value returned will be one of the MMA7660_TILT_BF_T values
*
* @return the bits corresponding to the BackFront tilt status
*/
uint8_t tiltBackFront();
/**
* Read tilt LandscapePortrait bits
*
* The value returned will be one of the MMA7660_TILT_LP_T values
*
* @return the bits corresponding to the LandscapePortrait tilt status
*/
uint8_t tiltLandscapePortrait();
/**
* read the tilt Tap status
*
* @return true if a tap was detected
*/
bool tiltTap();
/**
* read the tilt Shake status
*
* @return true if a Shake was detected
*/
bool tiltShake();
/**
* Install an Interrupt Service Routine (ISR) to be called when
* an interrupt occurs
*
* @param pin gpio pin to use as interrupt pin
* @param fptr function pointer to function to be called on interrupt
* @param arg pointer to an object that will be supplied as an
* argument to the ISR.
*/
void installISR(int pin, void (*isr)(void *), void *arg);
/**
* Uninstall the previously installed Interrupt Service Routine (ISR)
*
*/
void uninstallISR();
/**
* Enable interrupt generation based on the passed interrupt bits.
* The bits are a bit mask of the requested MMA7660_INTR_T values.
* Note: The device must be in standby mode to set this register.
*
* @param ibits set the requested interrupt bits
* @return true if successful
*/
bool setInterruptBits(uint8_t ibits);
/**
* Set the sampling rate of the sensor. The value supplied must
* be one of the MMA7660_AUTOSLEEP_T values.
*
* @param sr one of the MMA7660_AUTOSLEEP_T values
* @return true if successful
*/
bool setSampleRate(MMA7660_AUTOSLEEP_T sr);
private:
bool m_isrInstalled;
mraa_i2c_context m_i2c;
mraa_gpio_context m_gpio;
uint8_t m_addr;
};
}

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src/mma7660/pyupm_mma7660.i Normal file
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%module pyupm_mma7660
%include "../upm.i"
%feature("autodoc", "3");
#ifdef DOXYGEN
%include "mma7660_doc.i"
#endif
%include "mma7660.h"
%{
#include "mma7660.h"
%}