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mma8x5x: Added upm support for some MMA8X5X sensors

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This commit adds support for following sensors:
MMA8652 , MMA8653, MMA8451 , MMA8452 , MMA8453
These sensors are three-axis accelerometer.

Signed-off-by: Norbert Wesp <nwesp@phytec.de>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Norbert Wesp 2017-02-14 12:01:32 +01:00 committed by Mihai Tudor Panu
parent 8342b4c079
commit 12c81adeba
10 changed files with 1021 additions and 0 deletions
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1
doxy/samples.mapping.txt
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@ -76,3 +76,4 @@ sensortemplate.cxx SensorTemplateSample.java sensortemplate.js sensortemplate.py
p9813.cxx P9813Sample.java p9813.js p9813.py
tcs37727.cxx tcs37727.py
tmp006.cxx tmp006.py
mma8x5x.cxx mma8x5x.py

1
examples/c++/CMakeLists.txt
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@ -336,6 +336,7 @@ add_example (lcdks)
add_example (mmc35240)
add_example (tcs37727)
add_example (tmp006)
add_example (mma8x5x)
# These are special cases where you specify example binary, source file and module(s)
include_directories (${PROJECT_SOURCE_DIR}/src)

91
examples/c++/mma8x5x.cxx Normal file
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@ -0,0 +1,91 @@
/* Author: Norbert Wesp <nwesp@phytec.de>
* Copyright (c) 2017 Phytec Messtechnik GmbH.
*
* 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 <iostream>
#include <signal.h>
#include "mma8x5x.hpp"
using namespace upm;
bool run = true;
void sig_handler(int sig)
{
if (sig == SIGINT)
run = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
upm::mma8x5x_data_t data;
// U can set your own parameters for an MMA8X5X instance with
/*
upm::mma8x5x_params_t params;
params.type = <device-id>; device-id of your sensor
params.rate = <sampling-rate>; between 0<<3 and 7<<3
params.range = <range>; between 0 and 2
params.offsetX = <x-axis offset>; between 0 and 255
params.offsetY = <y-axis offset>; between 0 and 255
params.offsetZ = <z-axis offset>; between 0 and 255
*/
cout << "Initializing test-application..." << endl;
// Instantiate an MMA8X5X instance on bus 1 with default parameters
// The sensor-type will be detected by reading out the device-id
upm::MMA8X5X *mySensor = new upm::MMA8X5X(1);
// If u have set own parameters use this one
/*
upm::MMA8X5X *mySensor = new upm::MMA8X5X(1, &params);
*/
// activate periodic measurements
mySensor->setActive();
// update and print available values every second
while (run)
{
mySensor->getData (&data, true);
cout << "x: " << (int)data.x << endl
<< "y: " << (int)data.y << endl
<< "z: " << (int)data.z << endl;
cout << endl;
sleep(1);
}
cout << "Exiting test-application..." << endl;
delete mySensor;
//! [Interesting]
return 0;
}

62
examples/python/mma8x5x.py Normal file
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@ -0,0 +1,62 @@
#!/usr/bin/python
# Author: Norbert Wesp <nwesp@phytec.de>
# Copyright (c) 2017 Phytec Messtechnik GmbH.
#
# based on: tcs3414cs.py
#
# 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.
from __future__ import print_function
import time, sys, signal, atexit
from upm import pyupm_mma8x5x as MMA8X5X
def main():
# Instantiate the Three-Axis Accelerometer Sensor on I2C on bus 1
mySensor = MMA8X5X.MMA8X5X(1)
## Exit handlers ##
# This stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This lets you run code on exit,
# including functions from mySensor
def exitHandler():
print("Exiting")
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
data = MMA8X5X.mma8x5x_data_t()
# activate periodic measurements
mySensor.setActive();
# Print out the x, y, z value every 0.5 seconds
while(1):
mySensor.getData(data, True)
print(data.x, data.y, data.z)
time.sleep(.5)
if __name__ == '__main__':
main()

5
src/mma8x5x/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
set (libname "mma8x5x")
set (libdescription "Tri-axis Accelerometer Sensor")
set (module_src ${libname}.cpp)
set (module_hpp ${libname}.hpp)
upm_module_init()

19
src/mma8x5x/javaupm_mma8x5x.i Normal file
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@ -0,0 +1,19 @@
%module javaupm_mma8x5x
%include "../upm.i"
%{
#include "mma8x5x.hpp"
%}
%include "mma8x5x.hpp"
%pragma(java) jniclasscode=%{
static {
try {
System.loadLibrary("javaupm_mma8x5x");
} catch (UnsatisfiedLinkError e) {
System.err.println("Native code library failed to load. \n" + e);
System.exit(1);
}
}
%}

8
src/mma8x5x/jsupm_mma8x5x.i Normal file
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@ -0,0 +1,8 @@
%module jsupm_mma8x5x
%include "../upm.i"
%{
#include "mma8x5x.hpp"
%}
%include "mma8x5x.hpp"

346
src/mma8x5x/mma8x5x.cpp Normal file
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@ -0,0 +1,346 @@
/*
* Author: Norbert Wesp <nwesp@phytec.de>
* Copyright (c) 2017 Phytec Messtechnik GmbH.
*
* based on: RIOT-driver mma8x5x by Johann Fischer <j.fischer@phytec.de>
*
* 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 <stdexcept>
#include <unistd.h>
#include <stdlib.h>
#include <endian.h>
#include <time.h>
#include "mma8x5x.hpp"
using namespace upm;
MMA8X5X::MMA8X5X (int bus, mma8x5x_params_t *params,
int devAddr) : m_i2ControlCtx(bus) {
uint8_t reg;
s_data->x = 0;
s_data->y = 0;
s_data->z = 0;
m_controlAddr = devAddr;
m_bus = bus;
mraa::Result ret = m_i2ControlCtx.address(m_controlAddr);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_address() failed");
}
if (setDeviceParams(params)) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": setDeviceParams() failed");
}
/* reset device */
ret = m_i2ControlCtx.writeReg(MMA8X5X_CTRL_REG2, MMA8X5X_CTRL_REG2_RST);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
}
do {
usleep(500000);
reg = m_i2ControlCtx.readReg(MMA8X5X_CTRL_REG2);
} while (reg & MMA8X5X_CTRL_REG2_RST);
/* configure the user offset */
ret = m_i2ControlCtx.writeReg(MMA8X5X_OFF_X, s_params->offsetX);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
}
ret = m_i2ControlCtx.writeReg(MMA8X5X_OFF_Y, s_params->offsetY);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
}
ret = m_i2ControlCtx.writeReg(MMA8X5X_OFF_Z, s_params->offsetZ);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
}
/* configure range */
reg = (s_params->range & MMA8X5X_XYZ_DATA_CFG_FS_MASK);
ret = m_i2ControlCtx.writeReg(MMA8X5X_XYZ_DATA_CFG, reg);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
}
/* configure rate and activate the device */
reg = ((s_params->rate & MMA8X5X_CTRL_REG1_DR_MASK) |
MMA8X5X_CTRL_REG1_ACTIVE);
ret = m_i2ControlCtx.writeReg(MMA8X5X_CTRL_REG1, reg);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
}
}
int
MMA8X5X::setDeviceName(uint8_t type)
{
uint8_t id;
if (type == 0){
id = m_i2ControlCtx.readReg(MMA8X5X_DEVICE_ID_REG);
} else {
id = type;
}
switch (id) {
case (MMA8X5X_DEVICE_ID_MMA8652):
m_name = MMA8X5X_NAME_MMA8652;
s_params->type = MMA8X5X_DEVICE_ID_MMA8652;
break;
case (MMA8X5X_DEVICE_ID_MMA8653):
m_name = MMA8X5X_NAME_MMA8653;
s_params->type = MMA8X5X_DEVICE_ID_MMA8653;
break;
case (MMA8X5X_DEVICE_ID_MMA8451):
m_name = MMA8X5X_NAME_MMA8451;
s_params->type = MMA8X5X_DEVICE_ID_MMA8451;
break;
case (MMA8X5X_DEVICE_ID_MMA8452):
m_name = MMA8X5X_NAME_MMA8452;
s_params->type = MMA8X5X_DEVICE_ID_MMA8452;
break;
case (MMA8X5X_DEVICE_ID_MMA8453):
m_name = MMA8X5X_NAME_MMA8453;
s_params->type = MMA8X5X_DEVICE_ID_MMA8453;
break;
default:
return -1;
}
return 0;
}
int
MMA8X5X::setDeviceParams (mma8x5x_params_t* params)
{
if (params == NULL) {
if (setDeviceName(0)) {
return -1;
}
s_params->rate = MMA8X5X_RATE_DEFAULT;
s_params->range = MMA8X5X_RANGE_DEFAULT;
s_params->offsetX = 0;
s_params->offsetY = 0;
s_params->offsetZ = 0;
} else {
if (params->type != MMA8X5X_DEVICE_ID_MMA8652 &&
params->type != MMA8X5X_DEVICE_ID_MMA8653 &&
params->type != MMA8X5X_DEVICE_ID_MMA8451 &&
params->type != MMA8X5X_DEVICE_ID_MMA8452 &&
params->type != MMA8X5X_DEVICE_ID_MMA8453) {
/* given type is not supported */
return -1;
}
setDeviceName(params->type);
if (params->rate != MMA8X5X_RATE_800HZ &&
params->rate != MMA8X5X_RATE_400HZ &&
params->rate != MMA8X5X_RATE_200HZ &&
params->rate != MMA8X5X_RATE_100HZ &&
params->rate != MMA8X5X_RATE_50HZ &&
params->rate != MMA8X5X_RATE_1HZ25 &&
params->rate != MMA8X5X_RATE_6HZ25 &&
params->rate != MMA8X5X_RATE_1HZ56) {
/* given rate is not supported */
return -1;
}
s_params->rate = params->rate;
if (params->range != MMA8X5X_RANGE_2G &&
params->range != MMA8X5X_RANGE_4G &&
params->range != MMA8X5X_RANGE_8G) {
/* given range is not supported */
return -1;
}
s_params->range = params->range;
s_params->offsetX = params->offsetX;
s_params->offsetY = params->offsetY;
s_params->offsetZ = params->offsetZ;
}
return 0;
}
int
MMA8X5X::setUserOffset(int8_t x, int8_t y, int8_t z)
{
mraa::Result ret = m_i2ControlCtx.writeReg(MMA8X5X_OFF_X, (uint8_t)x);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
return -1;
}
ret = m_i2ControlCtx.writeReg(MMA8X5X_OFF_Y, (uint8_t)y);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
return -1;
}
ret = m_i2ControlCtx.writeReg(MMA8X5X_OFF_Z, (uint8_t)z);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
return -1;
}
return 0;
}
int
MMA8X5X::setActive(void)
{
uint8_t reg;
reg = m_i2ControlCtx.readReg(MMA8X5X_CTRL_REG1);
reg |= MMA8X5X_CTRL_REG1_ACTIVE;
mraa::Result ret = m_i2ControlCtx.writeReg(MMA8X5X_CTRL_REG1, reg);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
return -1;
}
return 0;
}
int
MMA8X5X::setStandby(void)
{
uint8_t reg;
reg = m_i2ControlCtx.readReg(MMA8X5X_CTRL_REG1);
reg &= ~MMA8X5X_CTRL_REG1_ACTIVE;
mraa::Result ret = m_i2ControlCtx.writeReg(MMA8X5X_CTRL_REG1, reg);
if (ret != mraa::SUCCESS) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
return -1;
}
return 0;
}
int
MMA8X5X::isReady(void)
{
uint8_t reg;
reg = m_i2ControlCtx.readReg(MMA8X5X_STATUS);
if (reg & MMA8X5X_STATUS_ZYXDR) {
return MMA8X5X_DATA_READY;
} else {
return MMA8X5X_NODATA;
}
}
int
MMA8X5X::sampleData(void)
{
uint8_t buf[7];
int re = 0;
re = m_i2ControlCtx.readBytesReg(MMA8X5X_STATUS, buf, 7);
if (re != 7) {
/* did not read enough bytes */
return -1;
}
s_data->x = ((int16_t)(buf[1] << 8 | buf[2])) / (16 >> s_params->range);
s_data->y = ((int16_t)(buf[3] << 8 | buf[4])) / (16 >> s_params->range);
s_data->z = ((int16_t)(buf[5] << 8 | buf[6])) / (16 >> s_params->range);
return 0;
}
int16_t
MMA8X5X::getX(int bSampleData)
{
if (bSampleData) {
if (sampleData() != 0) {
/* error in read values from reg */
return -999;
}
}
return s_data->x;
}
int16_t
MMA8X5X::getY(int bSampleData)
{
if (bSampleData) {
if (sampleData() != 0) {
/* error in read values from reg */
return -999;
}
}
return s_data->y;
}
int16_t
MMA8X5X::getZ(int bSampleData)
{
if (bSampleData) {
if (sampleData() != 0) {
/* error in read values from reg */
return -999;
}
}
return s_data->z;
}
int
MMA8X5X::getData(mma8x5x_data_t* data, int bSampleData)
{
if (bSampleData) {
if (sampleData() != 0) {
/* error in read values from reg */
return -1;
}
}
data->x = s_data->x;
data->y = s_data->y;
data->z = s_data->z;
return 0;
}

473
src/mma8x5x/mma8x5x.hpp Normal file
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@ -0,0 +1,473 @@
/*
* Author: Norbert Wesp <nwesp@phytec.de>
* Copyright (c) 2017 Phytec Messtechnik GmbH.
*
* based on: RIOT-driver mma8x5x by Johann Fischer <j.fischer@phytec.de>
*
* 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.hpp>
#include <stdint.h>
#include <stdbool.h>
/* Supported devices by this driver */
#define MMA8X5X_DEVICE_ID_MMA8652 0x4a
#define MMA8X5X_DEVICE_ID_MMA8653 0x5a
#define MMA8X5X_DEVICE_ID_MMA8451 0x1a
#define MMA8X5X_DEVICE_ID_MMA8452 0x2a
#define MMA8X5X_DEVICE_ID_MMA8453 0x3a
#define MMA8X5X_NAME_MMA8652 "MMA8652"
#define MMA8X5X_NAME_MMA8653 "MMA8653"
#define MMA8X5X_NAME_MMA8451 "MMA8451"
#define MMA8X5X_NAME_MMA8452 "MMA8452"
#define MMA8X5X_NAME_MMA8453 "MMA8453"
/* MMA8x5x Fix settings of supported sensors */
#define MMA8X5X_I2C_ADDRESS 0x1D
#define MMA8X5X_DEVICE_ID_REG 0x0D
/* MMA8x5x Register Map */
#define MMA8X5X_STATUS 0x00 /* Data or FIFO Status */
#define MMA8X5X_OUT_X_MSB 0x01 /* [7:0] are 8 MSBs of X data */
#define MMA8X5X_OUT_X_LSB 0x02 /* [7:4] are 4 LSBs of X data */
#define MMA8X5X_OUT_Y_MSB 0x03 /* [7:0] are 8 MSBs of Y data */
#define MMA8X5X_OUT_Y_LSB 0x04 /* [7:4] are 4 LSBs of Y data */
#define MMA8X5X_OUT_Z_MSB 0x05 /* [7:0] are 8 MSBs of Z data */
#define MMA8X5X_OUT_Z_LSB 0x06 /* [7:4] are 8 LSBs of Z data */
#define MMA8X5X_F_SETUP 0x09 /* FIFO setup */
#define MMA8X5X_TRIG_CFG 0x0A /* Map of FIFO data capture events */
#define MMA8X5X_SYSMOD 0x0B /* Current System mode */
#define MMA8X5X_INT_SOURCE 0x0C /* Interrupt status */
#define MMA8X5X_XYZ_DATA_CFG 0x0E /* Dynamic Range Settings */
#define MMA8X5X_HP_FILTER_CUTOFF 0x0F /* High-Pass Filter Selection */
#define MMA8X5X_PL_STATUS 0x10 /* Landscape/Portrait
orientation status */
#define MMA8X5X_PL_CFG 0x11 /* Landscape/Portrait configuration */
#define MMA8X5X_PL_COUNT 0x12 /* Landscape/Portrait debounce counter */
#define MMA8X5X_PL_BF_ZCOMP 0x13 /* Back/Front, Z-Lock Trip threshold */
#define MMA8X5X_P_L_THS_REG 0x14 /* Portrait/Landscape
Threshold and Hysteresis */
#define MMA8X5X_FF_MT_CFG 0x15 /* Freefall/Motion
functional block configuration */
#define MMA8X5X_FF_MT_SRC 0x16 /* Freefall/Motion
event source register */
#define MMA8X5X_FF_MT_THS 0x17 /* Freefall/Motion threshold register */
#define MMA8X5X_FF_MT_COUNT 0x18 /* Freefall/Motion debounce counter */
#define MMA8X5X_TRANSIENT_CFG 0x1D /* Transient
functional block configuration */
#define MMA8X5X_TRANSIENT_SRC 0x1E /* Transient event status register */
#define MMA8X5X_TRANSIENT_THS 0x1F /* Transient event threshold */
#define MMA8X5X_TRANSIENT_COUNT 0x20 /* Transient debounce counter */
#define MMA8X5X_PULSE_CFG 0x21 /* Pulse enable configuration */
#define MMA8X5X_PULSE_SRC 0x22 /* Pulse detection source */
#define MMA8X5X_PULSE_THSX 0x23 /* X pulse threshold */
#define MMA8X5X_PULSE_THSY 0x24 /* Y pulse threshold */
#define MMA8X5X_PULSE_THSZ 0x25 /* Z pulse threshold */
#define MMA8X5X_PULSE_TMLT 0x26 /* Time limit for pulse */
#define MMA8X5X_PULSE_LTCY 0x27 /* Latency time for 2nd pulse */
#define MMA8X5X_PULSE_WIND 0x28 /* Window time for 2nd pulse */
#define MMA8X5X_ASLP_COUNT 0x29 /* Counter setting for Auto-SLEEP */
#define MMA8X5X_CTRL_REG1 0x2A /* Data rates and modes setting */
#define MMA8X5X_CTRL_REG2 0x2B /* Sleep Enable, OS modes, RST, ST */
#define MMA8X5X_CTRL_REG3 0x2C /* Wake from Sleep, IPOL, PP_OD */
#define MMA8X5X_CTRL_REG4 0x2D /* Interrupt enable register */
#define MMA8X5X_CTRL_REG5 0x2E /* Interrupt pin (INT1/INT2) map */
#define MMA8X5X_OFF_X 0x2F /* X-axis offset adjust */
#define MMA8X5X_OFF_Y 0x30 /* Y-axis offset adjust */
#define MMA8X5X_OFF_Z 0x31 /* Z-axis offset adjust */
/* MMA8x5x Available sampling rates */
#define MMA8X5X_RATE_800HZ (0 << 3) /* 800 Hz Ouput Data Rate in WAKE mode */
#define MMA8X5X_RATE_400HZ (1 << 3) /* 400 Hz Ouput Data Rate in WAKE mode */
#define MMA8X5X_RATE_200HZ (2 << 3) /* 200 Hz Ouput Data Rate in WAKE mode */
#define MMA8X5X_RATE_100HZ (3 << 3) /* 100 Hz Ouput Data Rate in WAKE mode */
#define MMA8X5X_RATE_50HZ (4 << 3) /* 50 Hz Ouput Data Rate in WAKE mode */
#define MMA8X5X_RATE_1HZ25 (5 << 3) /* 12.5 Hz Ouput Data Rate in WAKE mode */
#define MMA8X5X_RATE_6HZ25 (6 << 3) /* 6.25 Hz Ouput Data Rate in WAKE mode */
#define MMA8X5X_RATE_1HZ56 (7 << 3) /* 1.56 Hz Ouput Data Rate in WAKE mode */
#define MMA8X5X_RATE_DEFAULT MMA8X5X_RATE_200HZ
/* MMA8x5x Available range options */
#define MMA8X5X_RANGE_2G 0
#define MMA8X5X_RANGE_4G 1
#define MMA8X5X_RANGE_8G 2
#define MMA8X5X_RANGE_DEFAULT MMA8X5X_RANGE_2G
/* Named return values */
#define MMA8X5X_OK 0 /* everything was fine */
#define MMA8X5X_DATA_READY 1 /* new data ready to be read */
#define MMA8X5X_NOI2C -1 /* I2C communication failed */
#define MMA8X5X_NODEV -2 /* no MMA8X5X device found on the bus */
#define MMA8X5X_NODATA -3 /* no data available */
/* MMA8x5x Register Bitfields */
#define MMA8X5X_STATUS_XDR (1 << 0)
#define MMA8X5X_STATUS_YDR (1 << 1)
#define MMA8X5X_STATUS_ZDR (1 << 2)
#define MMA8X5X_STATUS_ZYXDR (1 << 3)
#define MMA8X5X_STATUS_XOW (1 << 4)
#define MMA8X5X_STATUS_YOW (1 << 5)
#define MMA8X5X_STATUS_ZOW (1 << 6)
#define MMA8X5X_STATUS_ZYXOW (1 << 7)
#define MMA8X5X_F_STATUS_F_CNT_MASK 0x3F
#define MMA8X5X_F_STATUS_F_WMRK_FLAG (1 << 6)
#define MMA8X5X_F_STATUS_F_OVF (1 << 7)
#define MMA8X5X_F_SETUP_MODE_MASK 0xC0
#define MMA8X5X_F_SETUP_MODE_DISABLED 0
#define MMA8X5X_F_SETUP_MODE_CIRCULAR 1
#define MMA8X5X_F_SETUP_MODE_STOP 2
#define MMA8X5X_F_SETUP_MODE_TRIGGER 3
#define MMA8X5X_F_SETUP_F_WMRK_MASK 0x3F
#define MMA8X5X_TRIG_CFG_FF_MT (1 << 2)
#define MMA8X5X_TRIG_CFG_PULSE (1 << 3)
#define MMA8X5X_TRIG_CFG_LNDPRT (1 << 4)
#define MMA8X5X_TRIG_CFG_TRANS (1 << 5)
#define MMA8X5X_SYSMOD_MASK 0x3
#define MMA8X5X_SYSMOD_STANDBY 0
#define MMA8X5X_SYSMOD_WAKE 1
#define MMA8X5X_SYSMOD_SLEEP 2
#define MMA8X5X_SYSMOD_FGT_MASK 0x7C
#define MMA8X5X_SYSMOD_FGERR (1 << 7)
#define MMA8X5X_INT_SOURCE_DRDY (1 << 0)
#define MMA8X5X_INT_SOURCE_FF_MT (1 << 2)
#define MMA8X5X_INT_SOURCE_PULSE (1 << 3)
#define MMA8X5X_INT_SOURCE_LNDPRT (1 << 4)
#define MMA8X5X_INT_SOURCE_TRANS (1 << 5)
#define MMA8X5X_INT_SOURCE_FIFO (1 << 6)
#define MMA8X5X_INT_SOURCE_ASLP (1 << 7)
#define MMA8X5X_XYZ_DATA_CFG_FS_MASK 0x3
#define MMA8X5X_XYZ_DATA_CFG_HPF_OUT (1 << 4)
#define MMA8X5X_HP_FILTER_SEL_MASK 0x03
#define MMA8X5X_HP_FILTER_LPF_EN (1 << 4)
#define MMA8X5X_HP_FILTER_HPF_BYP (1 << 5)
#define MMA8X5X_PL_STATUS_BAFRO (1 << 0)
#define MMA8X5X_PL_STATUS_LAPO_MASK 0x6
#define MMA8X5X_PL_STATUS_LAPO_P_UP 0
#define MMA8X5X_PL_STATUS_LAPO_P_DOWN 1
#define MMA8X5X_PL_STATUS_LAPO_L_RIGHT 2
#define MMA8X5X_PL_STATUS_LAPO_L_LEFT 3
#define MMA8X5X_PL_STATUS_LO (1 << 6)
#define MMA8X5X_PL_STATUS_NEWLP (1 << 7)
#define MMA8X5X_PL_CFG_PL_EN (1 << 6)
#define MMA8X5X_PL_CFG_DBCNTM (1 << 7)
#define MMA8X5X_PL_BF_ZCOMP_ZLOCK_MASK 0x07
#define MMA8X5X_PL_BF_ZCOMP_BKFR_MASK 0xC0
#define MMA8X5X_P_L_HYS_MASK 0x07
#define MMA8X5X_P_L_THS_MASK 0xF8
#define MMA8X5X_FF_MT_CFG_XEFE (1 << 3)
#define MMA8X5X_FF_MT_CFG_YEFE (1 << 4)
#define MMA8X5X_FF_MT_CFG_ZEFE (1 << 5)
#define MMA8X5X_FF_MT_CFG_OAE (1 << 6)
#define MMA8X5X_FF_MT_CFG_ELE (1 << 7)
#define MMA8X5X_FF_MT_SRC_XHP (1 << 0)
#define MMA8X5X_FF_MT_SRC_XHE (1 << 1)
#define MMA8X5X_FF_MT_SRC_YHP (1 << 2)
#define MMA8X5X_FF_MT_SRC_YHE (1 << 3)
#define MMA8X5X_FF_MT_SRC_ZHP (1 << 4)
#define MMA8X5X_FF_MT_SRC_ZHE (1 << 5)
#define MMA8X5X_FF_MT_SRC_EA (1 << 7)
#define MMA8X5X_FF_MT_THS_MASK 0x7F
#define MMA8X5X_FF_MT_THS_DBCNTM (1 << 7)
#define MMA8X5X_TRANSIENT_CFG_HPF_BYP (1 << 0)
#define MMA8X5X_TRANSIENT_CFG_XTEFE (1 << 1)
#define MMA8X5X_TRANSIENT_CFG_YTEFE (1 << 2)
#define MMA8X5X_TRANSIENT_CFG_ZTEFE (1 << 3)
#define MMA8X5X_TRANSIENT_CFG_ELE (1 << 4)
#define MMA8X5X_TRANSIENT_SRC_XTPOL (1 << 0)
#define MMA8X5X_TRANSIENT_SRC_XTEVENT (1 << 1)
#define MMA8X5X_TRANSIENT_SRC_YTPOL (1 << 2)
#define MMA8X5X_TRANSIENT_SRC_YTEVENT (1 << 3)
#define MMA8X5X_TRANSIENT_SRC_ZTPOL (1 << 4)
#define MMA8X5X_TRANSIENT_SRC_ZTEVENT (1 << 5)
#define MMA8X5X_TRANSIENT_SRC_EA (1 << 6)
#define MMA8X5X_TRANSIENT_THS_MASK 0x7F
#define MMA8X5X_TRANSIENT_THS_DBCNTM (1<< 7)
#define MMA8X5X_PULSE_CFG_XSPEFE (1 << 0)
#define MMA8X5X_PULSE_CFG_XDPEFE (1 << 1)
#define MMA8X5X_PULSE_CFG_YSPEFE (1 << 2)
#define MMA8X5X_PULSE_CFG_YDPEFE (1 << 3)
#define MMA8X5X_PULSE_CFG_ZSPEFE (1 << 4)
#define MMA8X5X_PULSE_CFG_ZDPEFE (1 << 5)
#define MMA8X5X_PULSE_CFG_ELE (1 << 6)
#define MMA8X5X_PULSE_CFG_DPA (1 << 7)
#define MMA8X5X_PULSE_SRC_POLX (1 << 0)
#define MMA8X5X_PULSE_SRC_POLY (1 << 1)
#define MMA8X5X_PULSE_SRC_POLZ (1 << 2)
#define MMA8X5X_PULSE_SRC_DPE (1 << 3)
#define MMA8X5X_PULSE_SRC_AXX (1 << 4)
#define MMA8X5X_PULSE_SRC_AXY (1 << 5)
#define MMA8X5X_PULSE_SRC_AXZ (1 << 6)
#define MMA8X5X_PULSE_SRC_EA (1 << 7)
#define MMA8X5X_PULSE_THSX_MASK 0x7F
#define MMA8X5X_PULSE_THSY_MASK 0x7F
#define MMA8X5X_PULSE_THSZ_MASK 0x7F
#define MMA8X5X_CTRL_REG1_ACTIVE (1 << 0)
#define MMA8X5X_CTRL_REG1_F_READ (1 << 1)
#define MMA8X5X_CTRL_REG1_DR_MASK 0x38
#define MMA8X5X_CTRL_REG1_DR_SHIFT 3
#define MMA8X5X_CTRL_REG1_DR(x) (((uint8_t)(((uint8_t)(x))<<\
MMA8X5X_CTRL_REG1_DR_SHIFT))\
&MMA8X5X_CTRL_REG1_DR_MASK)
#define MMA8X5X_CTRL_REG1_ASR_MASK 0xC0
#define MMA8X5X_CTRL_REG1_ASR_50HZ 0
#define MMA8X5X_CTRL_REG1_ASR_12HZ5 1
#define MMA8X5X_CTRL_REG1_ASR_6HZ25 2
#define MMA8X5X_CTRL_REG1_ASR_1HZ56 3
#define MMA8X5X_CTRL_REG2_MODS_MASK 0x3
#define MMA8X5X_CTRL_REG2_MODS_NORMAL 0
#define MMA8X5X_CTRL_REG2_MODS_LNLP 1
#define MMA8X5X_CTRL_REG2_MODS_HR 2
#define MMA8X5X_CTRL_REG2_MODS_LP 3
#define MMA8X5X_CTRL_REG2_SLPE (1 << 2)
#define MMA8X5X_CTRL_REG2_SMODS_MASK 0x18
#define MMA8X5X_CTRL_REG2_SMODS_NORMAL 0
#define MMA8X5X_CTRL_REG2_SMODS_LNLP 1
#define MMA8X5X_CTRL_REG2_SMODS_HR 2
#define MMA8X5X_CTRL_REG2_SMODS_LP 3
#define MMA8X5X_CTRL_REG2_RST (1 << 6)
#define MMA8X5X_CTRL_REG2_ST (1 << 7)
#define MMA8X5X_CTRL_REG3_PP_OD (1 << 0)
#define MMA8X5X_CTRL_REG3_IPOL (1 << 1)
#define MMA8X5X_CTRL_REG3_WAKE_FF_MT (1 << 3)
#define MMA8X5X_CTRL_REG3_WAKE_PULSE (1 << 4)
#define MMA8X5X_CTRL_REG3_WAKE_LNDPRT (1 << 5)
#define MMA8X5X_CTRL_REG3_WAKE_TRANS (1 << 6)
#define MMA8X5X_CTRL_REG3_FIFO_GATE (1 << 7)
#define MMA8X5X_CTRL_REG4_INT_EN_DRDY (1 << 0)
#define MMA8X5X_CTRL_REG4_INT_EN_FF_MT (1 << 2)
#define MMA8X5X_CTRL_REG4_INT_EN_PULSE (1 << 3)
#define MMA8X5X_CTRL_REG4_INT_EN_LNDPRT (1 << 4)
#define MMA8X5X_CTRL_REG4_INT_EN_TRANS (1 << 5)
#define MMA8X5X_CTRL_REG4_INT_EN_FIFO (1 << 6)
#define MMA8X5X_CTRL_REG4_INT_EN_ASLP (1 << 7)
#define MMA8X5X_CTRL_REG5_INT_CFG_DRDY (1 << 0)
#define MMA8X5X_CTRL_REG5_INT_CFG_FF_MT (1 << 2)
#define MMA8X5X_CTRL_REG5_INT_CFG_PULSE (1 << 3)
#define MMA8X5X_CTRL_REG5_INT_CFG_LNDPRT (1 << 4)
#define MMA8X5X_CTRL_REG5_INT_CFG_TRANS (1 << 5)
#define MMA8X5X_CTRL_REG5_INT_CFG_FIFO (1 << 6)
#define MMA8X5X_CTRL_REG5_INT_CFG_ASLP (1 << 7)
namespace upm {
typedef struct {
uint8_t type;
uint8_t rate;
uint8_t range;
uint8_t offsetX;
uint8_t offsetY;
uint8_t offsetZ;
} mma8x5x_params_t;
typedef struct {
int16_t x;
int16_t y;
int16_t z;
} mma8x5x_data_t;
/**
* @brief MMA8X5X Three-Axis Accelerometer
* @defgroup mma8x5x libupm-mma8x5x
* @ingroup freescale i2c accelerometer compass
*/
/**
* @library mma8x5x
* @sensor mma8x5x
* @comname MMA8X5X Three-Axis Accelerometer
* @altid mma8451 mma8452 mma8453 mma8652 mma8653
* @type accelerometer compass
* @man freescale
* @web http://www.nxp.com/products/sensors/accelerometers:DRSNSAXLRTN
* @con i2c
*
* @brief API for the MMA8X5X Three-Axis Accelerometer
*
* Description in web-link above:
* The NXP MMA8X5X are low-power, three-axis capacitive micromachined
* accelerometer with 10/12/14 bits of resolution. These accelerometer
* are packed with embedded functions with flexible user-programmable
* options configurable to two interrupt pins. The MMA8X5X have user-selectable
* full scales of ±2g/±4g/±8g.
*
* @snippet mma8x5x.cxx Interesting
*/
class MMA8X5X {
public:
/**
*
* Instantiates an MMA8X5X object
*
* @param bus Number of the used bus
* @params params Params of device
* @param devAddr Address of the used I2C device
*/
MMA8X5X (int bus, mma8x5x_params_t* params=NULL,
int devAddr=MMA8X5X_I2C_ADDRESS);
/**
* Set device name and type matching given type or
* read out devive_id to set name and type of device
*
* @param type Type of device if set or
* 0 if needed to find out by it
* @return 0 on success
* -1 on error
*/
int setDeviceName(uint8_t type);
/**
* Set device params to given data or
* set default params and read out devive_id to set type of device
*
* @param params Params of device if set by user
* NULL if it is not set by user
* @return 0 on success
* -1 on error
*/
int setDeviceParams(mma8x5x_params_t* params);
/**
* Set user offset correction
* Offset correction register will be erased after accelerometer reset
*
* @param x Offset correction value for x-axis
* @param y Offset correction value for y-axis
* @param z Offset correction value for z-axis
*
* @return 0 on success
* -1 on error
*/
int setUserOffset(int8_t x, int8_t y, int8_t z);
/**
* Set active mode, this enables periodic measurements
*
* @return 0 on success
* -1 on error
*/
int setActive(void);
/**
* Set standby mode, this disables periodic measurements
*
* @return 0 on success
* -1 on error
*/
int setStandby(void);
/**
* Check for new set of measurement data.
*
* @return MMA8X5X_DATA_READY if new sample is ready
* MMA8X5X_NODATA if nothing is available
*/
int isReady(void);
/**
* Read & calculate accelerometer data in mg & saves them to variables
*
* @return 0 on success
* -1 on error
*/
int sampleData(void);
/**
* Get x-axis acceleration
*
* @param bSampleData Flag to read sensor
* @return The x-axis acceleration on success
* -999 on error
*/
int16_t getX(int bSampleData = 0);
/**
* Get y-axis acceleration
*
* @param bSampleData Flag to read sensor
* @return The y-axis acceleration on success
* -999 on error
*/
int16_t getY(int bSampleData = 0);
/**
* Get z-axis acceleration
*
* @param bSampleData Flag to read sensor
* @return The z-axis acceleration on success
* -999 on error
*/
int16_t getZ(int bSampleData = 0);
/**
* Get sensor values
*
* @param data Sensor values
* @param bSampleData Flag to read sensor
* @return 0 on success
* -1 on error
*/
int getData(mma8x5x_data_t* data, int bSampleData = 0);
private:
std::string m_name;
int m_controlAddr;
int m_bus;
mraa::I2c m_i2ControlCtx;
mma8x5x_params_t s_params[1];
mma8x5x_data_t s_data[1];
};
}

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src/mma8x5x/pyupm_mma8x5x.i Normal file
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// Include doxygen-generated documentation
%include "pyupm_doxy2swig.i"
%module pyupm_mma8x5x
%include "../upm.i"
%feature("autodoc", "3");
#ifdef DOXYGEN
%include "mma8x5x_doc.i"
#endif
%include "mma8x5x.hpp"
%{
#include "mma8x5x.hpp"
%}