kxcjk1013: Initial implementation

Signed-off-by: Lay, Kuan Loon <kuan.loon.lay@intel.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/c++/CMakeLists.txt

@@ -241,6 +241,7 @@ endif()
 add_example (hdxxvxta)
 add_example (rhusb)
 add_example (apds9930)
+add_example (kxcjk1013)
 
 # These are special cases where you specify example binary, source file and module(s)
 include_directories (${PROJECT_SOURCE_DIR}/src)

examples/c++/kxcjk1013.cxx

@@ -0,0 +1,75 @@
+/*
+ * Author: Lay, Kuan Loon <kuan.loon.lay@intel.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 <iostream>
+#include <signal.h>
+#include "kxcjk1013.h"
+
+using namespace std;
+
+int shouldRun = true;
+upm::KXCJK1013* accelerometer;
+
+void
+sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+void
+data_callback(char* data)
+{
+    float x, y, z;
+    accelerometer->extract3Axis(data, &x, &y, &z);
+    printf("%.1f               %.1f               %.1f\n", x, y, z);
+    // usleep(100);
+}
+
+int
+main()
+{
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
+    // Instantiate a KXCJK1013 Accelerometer Sensor on iio device 0
+    accelerometer = new upm::KXCJK1013(0);
+    accelerometer->setScale(0.019163);
+    accelerometer->setSamplingFrequency(25.0);
+    accelerometer->enable3AxisChannel();
+    accelerometer->installISR(data_callback, NULL);
+    accelerometer->enableBuffer(16);
+
+    while (shouldRun) {
+        sleep(1);
+    }
+    accelerometer->disableBuffer();
+
+    //! [Interesting]
+    cout << "Exiting" << endl;
+
+    delete accelerometer;
+
+    return 0;
+}

src/kxcjk1013/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "kxcjk1013")
+set (libdescription "upm kxcjk1013 sensor module")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/kxcjk1013/javaupm_kxcjk1013.i

@@ -0,0 +1,14 @@
+%module javaupm_kxcjk1013
+%include "../upm.i"
+%include "stdint.i"
+%include "typemaps.i"
+
+%feature("director") IsrCallback;
+
+%ignore generic_callback_isr;
+%include "../IsrCallback.h"
+
+%{
+    #include "kxcjk1013.h"
+%}
+%include "kxcjk1013.h"

src/kxcjk1013/jsupm_kxcjk1013.i

@@ -0,0 +1,8 @@
+%module jsupm_kxcjk1013
+%include "../upm.i"
+
+%{
+    #include "kxcjk1013.h"
+%}
+
+%include "kxcjk1013.h"

src/kxcjk1013/kxcjk1013.cxx

@@ -0,0 +1,207 @@
+/*
+ * Author: Lay, Kuan Loon <kuan.loon.lay@intel.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 <stdexcept>
+#include <string.h>
+#include "kxcjk1013.h"
+
+using namespace upm;
+
+KXCJK1013::KXCJK1013(int device)
+{
+    float accel_scale;
+    char trigger[64];
+
+    if (!(m_iio = mraa_iio_init(device))) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_iio_init() failed, invalid device?");
+        return;
+    }
+    m_scale = 1;
+    m_iio_device_num = device;
+    sprintf(trigger, "hrtimer-kxcjk1013-hr-dev%d", device);
+
+    if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS)
+        fprintf(stderr, "Create trigger failed\n");
+
+    if (mraa_iio_get_mounting_matrix(m_iio, m_mount_matrix) == MRAA_SUCCESS)
+        m_mount_matrix_exist = true;
+    else
+        m_mount_matrix_exist = false;
+
+    if (mraa_iio_read_float(m_iio, "in_accel_scale", &accel_scale) == MRAA_SUCCESS)
+        m_scale = accel_scale;
+}
+
+KXCJK1013::~KXCJK1013()
+{
+    // mraa_iio_stop(m_iio);
+}
+
+#ifdef JAVACALLBACK
+void
+KXCJK1013::installISR(IsrCallback* cb)
+{
+    installISR(generic_callback_isr, cb);
+}
+#endif
+
+void
+KXCJK1013::installISR(void (*isr)(char*), void* arg)
+{
+    mraa_iio_trigger_buffer(m_iio, isr, NULL);
+}
+
+int64_t
+KXCJK1013::getChannelValue(unsigned char* input, mraa_iio_channel* chan)
+{
+    uint64_t u64;
+    int i;
+    int storagebits = chan->bytes * 8;
+    int realbits = chan->bits_used;
+    int zeroed_bits = storagebits - realbits;
+    uint64_t sign_mask;
+    uint64_t value_mask;
+
+    u64 = 0;
+
+    if (!chan->lendian)
+        for (i = 0; i < storagebits / 8; i++)
+            u64 = (u64 << 8) | input[i];
+    else
+        for (i = storagebits / 8 - 1; i >= 0; i--)
+            u64 = (u64 << 8) | input[i];
+
+    u64 = (u64 >> chan->shift) & (~0ULL >> zeroed_bits);
+
+    if (!chan->signedd)
+        return (int64_t) u64; /* We don't handle unsigned 64 bits int */
+
+    /* Signed integer */
+
+    switch (realbits) {
+        case 0 ... 1:
+            return 0;
+
+        case 8:
+            return (int64_t)(int8_t) u64;
+
+        case 16:
+            return (int64_t)(int16_t) u64;
+
+        case 32:
+            return (int64_t)(int32_t) u64;
+
+        case 64:
+            return (int64_t) u64;
+
+        default:
+            sign_mask = 1 << (realbits - 1);
+            value_mask = sign_mask - 1;
+
+            if (u64 & sign_mask)
+                return -((~u64 & value_mask) + 1); /* Negative value: return 2-complement */
+            else
+                return (int64_t) u64; /* Positive value */
+    }
+}
+
+bool
+KXCJK1013::enableBuffer(int length)
+{
+    mraa_iio_write_integer(m_iio, "buffer/length", length);
+    // enable must be last step, else will have error in writing above config
+    mraa_iio_write_integer(m_iio, "buffer/enable", 1);
+
+    return true;
+}
+
+bool
+KXCJK1013::disableBuffer()
+{
+    mraa_iio_write_integer(m_iio, "buffer/enable", 0);
+
+    return true;
+}
+
+bool
+KXCJK1013::setScale(float scale)
+{
+    mraa_iio_write_float(m_iio, "in_accel_scale", scale);
+
+    return true;
+}
+
+bool
+KXCJK1013::setSamplingFrequency(float sampling_frequency)
+{
+    mraa_iio_write_float(m_iio, "in_accel_sampling_frequency", sampling_frequency);
+
+    return true;
+}
+
+bool
+KXCJK1013::enable3AxisChannel()
+{
+    char trigger[64];
+    sprintf(trigger, "kxcjk1013-hr-dev%d", m_iio_device_num);
+
+    mraa_iio_write_string(m_iio, "trigger/current_trigger", trigger);
+    mraa_iio_write_integer(m_iio, "scan_elements/in_accel_x_en", 1);
+    mraa_iio_write_integer(m_iio, "scan_elements/in_accel_y_en", 1);
+    mraa_iio_write_integer(m_iio, "scan_elements/in_accel_z_en", 1);
+
+    // need update channel data size after enable
+    mraa_iio_update_channels(m_iio);
+    return true;
+}
+
+void
+KXCJK1013::extract3Axis(char* data, float* x, float* y, float* z)
+{
+    mraa_iio_channel* channels = mraa_iio_get_channels(m_iio);
+    float tmp[3];
+    int i = 0;
+    int iio_x, iio_y, iio_z;
+
+    iio_x = getChannelValue((unsigned char*) (data + channels[0].location), &channels[0]);
+    iio_y = getChannelValue((unsigned char*) (data + channels[1].location), &channels[1]);
+    iio_z = getChannelValue((unsigned char*) (data + channels[2].location), &channels[2]);
+
+    *x = (iio_x * m_scale);
+    *y = (iio_y * m_scale);
+    *z = (iio_z * m_scale);
+
+    if (m_mount_matrix_exist) {
+        tmp[0] = *x * m_mount_matrix[0] + *y * m_mount_matrix[1] + *z * m_mount_matrix[2];
+        tmp[1] = *x * m_mount_matrix[3] + *y * m_mount_matrix[4] + *z * m_mount_matrix[5];
+        tmp[2] = *x * m_mount_matrix[6] + *y * m_mount_matrix[7] + *z * m_mount_matrix[8];
+
+        *x = tmp[0];
+        *y = tmp[1];
+        *z = tmp[2];
+    }
+}

src/kxcjk1013/kxcjk1013.h

@@ -0,0 +1,135 @@
+/*
+ * Author: Lay, Kuan Loon <kuan.loon.lay@intel.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/iio.h>
+
+#if defined(SWIGJAVA) || defined(JAVACALLBACK)
+#include "../IsrCallback.h"
+#endif
+
+namespace upm
+{
+/**
+ * @brief KXCJK1013 Tri-axis Digital Accelerometer
+ * @defgroup kxcjk1013 libupm-kxcjk1013
+ * @ingroup Kionix iio i2c tri-axis digital accelerometer
+ */
+
+/**
+ * @library kxcjk1013
+ * @sensor kxcjk1013
+ * @comname KXCJK1013 Tri-axis Digital Accelerometer
+ * @type accelerometer
+ * @man Kionix
+ * @con iio i2c
+ *
+ * @brief KXCJK1013 Tri-axis Digital Accelerometer API
+ *
+ * The KXCJK is a tri-axis +/-2g, +/-4g or +/-8g silicon micromachined
+ * accelerometer.
+ *
+ * @snippet kxcjk1013.cxx Interesting
+ */
+
+class KXCJK1013
+{
+  public:
+    /**
+     * KXCJK1013 Tri-axis Digital Accelerometer
+     *
+     * @param iio device number
+     */
+    KXCJK1013(int device);
+    /**
+     * KXCJK1013 destructor
+     */
+    ~KXCJK1013();
+/**
+ * Installs an interrupt service routine (ISR) to be called when
+ * an interrupt occurs
+ *
+ * @param interrupt channel
+ * @param fptr Pointer to a function to be called on interrupt
+ * @param arg Pointer to an object to be supplied as an
+ * argument to the ISR.
+ */
+#if defined(SWIGJAVA) || defined(JAVACALLBACK)
+    void installISR(IsrCallback* cb);
+#else
+    void installISR(void (*isr)(char*), void* arg);
+#endif
+    /**
+     * Extract the channel value based on channel type
+   * @param input Channel data
+   * @param chan MRAA iio-layer channel info
+     */
+    int64_t getChannelValue(unsigned char* input, mraa_iio_channel* chan);
+
+    /**
+     * Enable trigger buffer
+   * @param trigger buffer length in string
+     */
+    bool enableBuffer(int length);
+
+    /**
+     * Disable trigger buffer
+     */
+    bool disableBuffer();
+
+    /**
+     * Set scale
+   * @param scale in string
+     */
+    bool setScale(const float scale);
+
+    /**
+     * Set sampling frequency
+   * @param sampling frequency  in string
+     */
+    bool setSamplingFrequency(const float sampling_frequency);
+
+    /**
+     * Enable 3 axis scan element
+     */
+    bool enable3AxisChannel();
+
+    /**
+     * Process enabled channel buffer and return x, y, z axis
+   * @param data Enabled channel data, 6 bytes, each axis 2 bytes
+   * @param x X-Axis
+   * @param y Y-Axis
+   * @param z Z-Axis
+     */
+    void extract3Axis(char* data, float* x, float* y, float* z);
+
+  private:
+    mraa_iio_context m_iio;
+    int m_iio_device_num;
+    bool m_mount_matrix_exist; // is mount matrix exist
+    float m_mount_matrix[9]; // mount matrix
+    float m_scale; // accelerometer data scale
+};
+}

src/kxcjk1013/pyupm_kxcjk1013.i

@@ -0,0 +1,9 @@
+%module pyupm_kxcjk1013
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "kxcjk1013.h"
+%{
+    #include "kxcjk1013.h"
+%}