mirror of
https://github.com/eclipse/upm.git
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mma7455: added new accelerometer module
Signed-off-by: Kiveisha Yevgeniy <yevgeniy.kiveisha@intel.com>
This commit is contained in:
parent
1c138d9167
commit
1dd8626044
@ -13,6 +13,7 @@ add_executable (son-hcsr04 hcsr04.cxx)
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add_executable (oled-1308 oled-1308.cxx)
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add_executable (oled-1327 oled-1327.cxx)
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add_executable (proximity max44000.cxx)
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add_executable (accelerometer mma7455.cxx)
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include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
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include_directories (${PROJECT_SOURCE_DIR}/src/grove)
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@ -24,6 +25,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/nrf24l01)
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include_directories (${PROJECT_SOURCE_DIR}/src/servo)
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include_directories (${PROJECT_SOURCE_DIR}/src/hcsr04)
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include_directories (${PROJECT_SOURCE_DIR}/src/max44000)
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include_directories (${PROJECT_SOURCE_DIR}/src/mma7455)
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target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT})
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@ -40,3 +42,4 @@ target_link_libraries (son-hcsr04 hcsr04 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (oled-1308 i2clcd ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (oled-1327 i2clcd ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (proximity max44000 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (accelerometer mma7455 ${CMAKE_THREAD_LIBS_INIT})
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64
examples/mma7455.cxx
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64
examples/mma7455.cxx
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@ -0,0 +1,64 @@
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/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all 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,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <iostream>
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#include "mma7455.h"
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#include <signal.h>
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#include <pthread.h>
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int doWork = 0;
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upm::MMA7455 *sensor = NULL;
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void
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sig_handler(int signo)
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{
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printf("got signal\n");
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if (signo == SIGINT) {
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printf("exiting application\n");
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doWork = 1;
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}
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}
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int
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main(int argc, char **argv)
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{
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//! [Interesting]
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sensor = new upm::MMA7455(0, ADDR);
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short x, y, z;
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while (!doWork) {
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sensor->readData(&x, &y, &z);
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std::cout << "Accelerometer X(" << x << ") Y(" << y << ") Z(" << z << ")" << std::endl;
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usleep (100000);
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}
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//! [Interesting]
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std::cout << "exiting application" << std::endl;
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delete sensor;
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return 0;
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}
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4
src/mma7455/CMakeLists.txt
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4
src/mma7455/CMakeLists.txt
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set (libname "mma7455")
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set (libdecription "upm MMA7455")
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add_library (mma7455 SHARED mma7455.cxx)
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upm_module_init()
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7
src/mma7455/jsupm_mma7455.i
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7
src/mma7455/jsupm_mma7455.i
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%module jsupm_mma7455
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%{
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#include "mma7455.h"
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%}
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%include "mma7455.h"
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176
src/mma7455/mma7455.cxx
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176
src/mma7455/mma7455.cxx
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/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all 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,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <pthread.h>
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#include <math.h>
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#include "mma7455.h"
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using namespace upm;
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MMA7455::MMA7455 (int bus, int devAddr) {
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unsigned char data = 0;
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int nBytes = 0;
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m_name = "MMA7455";
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m_controlAddr = devAddr;
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m_bus = bus;
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m_i2ControlCtx = maa_i2c_init(m_bus);
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maa_result_t error = maa_i2c_address(m_i2ControlCtx, m_controlAddr);
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if (error != MAA_SUCCESS) {
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fprintf(stderr, "Messed up i2c bus\n");
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return;
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}
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// setting GLVL 0x1 (64LSB/g) and MODE 0x1 (Measurement Mode)
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data = (BIT (MMA7455_GLVL0) | BIT (MMA7455_MODE0));
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error = ic2WriteReg (MMA7455_MCTL, &data, 0x1);
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if (error != MAA_SUCCESS) {
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std::cout << "ERROR :: MMA7455 instance wan not created (Mode)" << std::endl;
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return;
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}
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if (MAA_SUCCESS != calibrate ()) {
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std::cout << "ERROR :: MMA7455 instance wan not created (Calibrate)" << std::endl;
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return;
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}
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}
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MMA7455::~MMA7455() {
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maa_i2c_stop(m_i2ControlCtx);
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}
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maa_result_t
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MMA7455::calibrate () {
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maa_result_t error = MAA_SUCCESS;
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int i = 0;
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accelData xyz;
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xyz.value.x = xyz.value.y = xyz.value.z = 0;
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do {
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error = readData (&xyz.value.x, &xyz.value.y, &xyz.value.z);
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if (MAA_SUCCESS != error) {
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return error;
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}
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xyz.value.x += 2 * -xyz.value.x;
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xyz.value.y += 2 * -xyz.value.y;
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xyz.value.z += 2 * -(xyz.value.z - 64);
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error = ic2WriteReg (MMA7455_XOFFL, (unsigned char *) &xyz, 0x6);
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if (error != MAA_SUCCESS) {
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return error;
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}
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} while ( ++i < 3 );
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return error;
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}
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maa_result_t
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MMA7455::readData (short * ptrX, short * ptrY, short * ptrZ) {
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accelData xyz;
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unsigned char data = 0;
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int nBytes = 0;
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/*do {
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nBytes = ic2ReadReg (MMA7455_STATUS, &data, 0x1);
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} while ( !(data & MMA7455_DRDY) && nBytes == MAA_SUCCESS);
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if (nBytes == MAA_SUCCESS) {
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std::cout << "NO_GDB :: 1" << std::endl;
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return MAA_SUCCESS;
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}*/
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nBytes = ic2ReadReg (MMA7455_XOUTL, (unsigned char *) &xyz, 0x6);
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if (nBytes == 0) {
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std::cout << "NO_GDB :: 2" << std::endl;
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return MAA_ERROR_UNSPECIFIED;
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}
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if (xyz.reg.x_msb & 0x02) {
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xyz.reg.x_msb |= 0xFC;
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}
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if (xyz.reg.y_msb & 0x02) {
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xyz.reg.y_msb |= 0xFC;
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}
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if (xyz.reg.z_msb & 0x02) {
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xyz.reg.z_msb |= 0xFC;
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}
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// The result is the g-force in units of 64 per 'g'.
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*ptrX = xyz.value.x;
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*ptrY = xyz.value.y;
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*ptrZ = xyz.value.z;
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return MAA_SUCCESS;
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}
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int
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MMA7455::ic2ReadReg (unsigned char reg, unsigned char * buf, unsigned char size) {
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if (MAA_SUCCESS != maa_i2c_address(m_i2ControlCtx, m_controlAddr)) {
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return 0;
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}
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if (MAA_SUCCESS != maa_i2c_write_byte(m_i2ControlCtx, reg)) {
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return 0;
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}
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if (MAA_SUCCESS != maa_i2c_address(m_i2ControlCtx, m_controlAddr)) {
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return 0;
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}
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return (int) maa_i2c_read(m_i2ControlCtx, buf, size);
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}
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maa_result_t
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MMA7455::ic2WriteReg (unsigned char reg, unsigned char * buf, unsigned char size) {
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maa_result_t error = MAA_SUCCESS;
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uint8_t data[size + 1];
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data[0] = reg;
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memcpy(&data[1], buf, size);
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error = maa_i2c_address (m_i2ControlCtx, m_controlAddr);
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if (error != MAA_SUCCESS) {
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return error;
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}
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error = maa_i2c_write (m_i2ControlCtx, data, size + 1);
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if (error != MAA_SUCCESS) {
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return error;
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}
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return error;
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}
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223
src/mma7455/mma7455.h
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223
src/mma7455/mma7455.h
Normal file
@ -0,0 +1,223 @@
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/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
|
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* distribute, sublicense, and/or sell copies of the Software, and to
|
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* permit persons to whom the Software is furnished to do so, subject to
|
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
|
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* included in all 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,
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <maa/i2c.h>
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#define ADDR 0x1D // device address
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// Register names according to the datasheet.
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// Register 0x1C is sometimes called 'PW', and sometimes 'PD'.
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// The two reserved registers can not be used.
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#define MMA7455_XOUTL 0x00 // Read only, Output Value X LSB
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#define MMA7455_XOUTH 0x01 // Read only, Output Value X MSB
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#define MMA7455_YOUTL 0x02 // Read only, Output Value Y LSB
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#define MMA7455_YOUTH 0x03 // Read only, Output Value Y MSB
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#define MMA7455_ZOUTL 0x04 // Read only, Output Value Z LSB
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#define MMA7455_ZOUTH 0x05 // Read only, Output Value Z MSB
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#define MMA7455_XOUT8 0x06 // Read only, Output Value X 8 bits
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#define MMA7455_YOUT8 0x07 // Read only, Output Value Y 8 bits
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#define MMA7455_ZOUT8 0x08 // Read only, Output Value Z 8 bits
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#define MMA7455_STATUS 0x09 // Read only, Status Register
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#define MMA7455_DETSRC 0x0A // Read only, Detection Source Register
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#define MMA7455_TOUT 0x0B // Temperature Output Value (Optional)
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#define MMA7455_RESERVED1 0x0C // Reserved
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#define MMA7455_I2CAD 0x0D // Read/Write, I2C Device Address
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#define MMA7455_USRINF 0x0E // Read only, User Information (Optional)
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#define MMA7455_WHOAMI 0x0F // Read only, "Who am I" value (Optional)
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#define MMA7455_XOFFL 0x10 // Read/Write, Offset Drift X LSB
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#define MMA7455_XOFFH 0x11 // Read/Write, Offset Drift X MSB
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#define MMA7455_YOFFL 0x12 // Read/Write, Offset Drift Y LSB
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#define MMA7455_YOFFH 0x13 // Read/Write, Offset Drift Y MSB
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#define MMA7455_ZOFFL 0x14 // Read/Write, Offset Drift Z LSB
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#define MMA7455_ZOFFH 0x15 // Read/Write, Offset Drift Z MSB
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#define MMA7455_MCTL 0x16 // Read/Write, Mode Control Register
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#define MMA7455_INTRST 0x17 // Read/Write, Interrupt Latch Reset
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#define MMA7455_CTL1 0x18 // Read/Write, Control 1 Register
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#define MMA7455_CTL2 0x19 // Read/Write, Control 2 Register
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#define MMA7455_LDTH 0x1A // Read/Write, Level Detection Threshold Limit Value
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#define MMA7455_PDTH 0x1B // Read/Write, Pulse Detection Threshold Limit Value
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#define MMA7455_PD 0x1C // Read/Write, Pulse Duration Value
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#define MMA7455_LT 0x1D // Read/Write, Latency Time Value (between pulses)
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#define MMA7455_TW 0x1E // Read/Write, Time Window for Second Pulse Value
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#define MMA7455_RESERVED2 0x1F // Reserved
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// Defines for the bits, to be able to change
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// between bit number and binary definition.
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// By using the bit number, programming the MMA7455
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// is like programming an AVR microcontroller.
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// But instead of using "(1<<X)", or "_BV(X)",
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// the Arduino "bit(X)" is used.
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#define MMA7455_D0 0
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#define MMA7455_D1 1
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#define MMA7455_D2 2
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#define MMA7455_D3 3
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#define MMA7455_D4 4
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#define MMA7455_D5 5
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#define MMA7455_D6 6
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#define MMA7455_D7 7
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// Status Register
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#define MMA7455_DRDY MMA7455_D0
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#define MMA7455_DOVR MMA7455_D1
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#define MMA7455_PERR MMA7455_D2
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// Mode Control Register
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#define MMA7455_MODE0 MMA7455_D0
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#define MMA7455_MODE1 MMA7455_D1
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#define MMA7455_GLVL0 MMA7455_D2
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#define MMA7455_GLVL1 MMA7455_D3
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#define MMA7455_STON MMA7455_D4
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#define MMA7455_SPI3W MMA7455_D5
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#define MMA7455_DRPD MMA7455_D6
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// Control 1 Register
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#define MMA7455_INTPIN MMA7455_D0
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#define MMA7455_INTREG0 MMA7455_D1
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#define MMA7455_INTREG1 MMA7455_D2
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#define MMA7455_XDA MMA7455_D3
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#define MMA7455_YDA MMA7455_D4
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#define MMA7455_ZDA MMA7455_D5
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#define MMA7455_THOPT MMA7455_D6
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#define MMA7455_DFBW MMA7455_D7
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// Control 2 Register
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#define MMA7455_LDPL MMA7455_D0
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#define MMA7455_PDPL MMA7455_D1
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#define MMA7455_DRVO MMA7455_D2
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// Interrupt Latch Reset Register
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#define MMA7455_CLR_INT1 MMA7455_D0
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#define MMA7455_CLR_INT2 MMA7455_D1
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// Detection Source Register
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#define MMA7455_INT1 MMA7455_D0
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#define MMA7455_INT2 MMA7455_D1
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#define MMA7455_PDZ MMA7455_D2
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#define MMA7455_PDY MMA7455_D3
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#define MMA7455_PDX MMA7455_D4
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#define MMA7455_LDZ MMA7455_D5
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#define MMA7455_LDY MMA7455_D6
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#define MMA7455_LDX MMA7455_D7
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// I2C Device Address Register
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#define MMA7455_I2CDIS MMA7455_D7
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#define HIGH 1
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#define LOW 0
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namespace upm {
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union accelData {
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struct {
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unsigned char x_lsb;
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unsigned char x_msb;
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unsigned char y_lsb;
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unsigned char y_msb;
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unsigned char z_lsb;
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unsigned char z_msb;
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} reg;
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struct {
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short x;
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short y;
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||||
short z;
|
||||
} value;
|
||||
};
|
||||
|
||||
#define BIT(n) (1<<n)
|
||||
|
||||
/**
|
||||
* @brief C++ API for MMA7455 chip (accelerometer)
|
||||
*
|
||||
* This file defines the MMA7455 C++ interface for libmma7455
|
||||
*
|
||||
* @snippet mma7455.cxx Interesting
|
||||
*
|
||||
*/
|
||||
class MMA7455 {
|
||||
public:
|
||||
/**
|
||||
* Instanciates a MMA7455 object
|
||||
*
|
||||
* @param bus number of used bus
|
||||
* @param devAddr addres of used i2c device
|
||||
*/
|
||||
MMA7455 (int bus, int devAddr);
|
||||
|
||||
/**
|
||||
* MMA7455 object destructor, basicaly it close i2c connection.
|
||||
*/
|
||||
~MMA7455 ();
|
||||
|
||||
/**
|
||||
* Return name of the component
|
||||
*/
|
||||
std::string name()
|
||||
{
|
||||
return m_name;
|
||||
}
|
||||
|
||||
/**
|
||||
* Calibrate the sensor
|
||||
*/
|
||||
maa_result_t calibrate ();
|
||||
|
||||
/**
|
||||
* Read X, Y and Z acceleration data
|
||||
*
|
||||
* @param ptrX X axis
|
||||
* @param ptrY Y axis
|
||||
* @param ptrZ Z axis
|
||||
*/
|
||||
maa_result_t readData (short * ptrX, short * ptrY, short * ptrZ);
|
||||
|
||||
/**
|
||||
*
|
||||
*
|
||||
* @param reg register address
|
||||
* @param buf register data buffer
|
||||
* @param size buffer size
|
||||
*/
|
||||
int ic2ReadReg (unsigned char reg, unsigned char * buf, unsigned char size);
|
||||
|
||||
/**
|
||||
*
|
||||
*
|
||||
* @param reg register address
|
||||
* @param buf register data buffer
|
||||
* @param size buffer size
|
||||
*/
|
||||
maa_result_t ic2WriteReg (unsigned char reg, unsigned char * buf, unsigned char size);
|
||||
|
||||
private:
|
||||
std::string m_name;
|
||||
|
||||
int m_controlAddr;
|
||||
int m_bus;
|
||||
maa_i2c_context m_i2ControlCtx;
|
||||
};
|
||||
|
||||
}
|
8
src/mma7455/pyupm_mma7455.i
Normal file
8
src/mma7455/pyupm_mma7455.i
Normal file
@ -0,0 +1,8 @@
|
||||
%module pyupm_mma7455
|
||||
|
||||
%feature("autodoc", "3");
|
||||
|
||||
%include "mma7455.h"
|
||||
%{
|
||||
#include "mma7455.h"
|
||||
%}
|
Loading…
x
Reference in New Issue
Block a user