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h3lis331dl: Initial implementation
The driver implements support for the Grove 3-Axis Digital Accelerometer(±400g), using the h3lis331dl chip. Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Jon Trulson
Mihai Tudor Panu
parent
5547d99609
commit
c8d0aee873
@ -119,6 +119,7 @@ add_executable (si114x-example si114x.cxx)
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add_executable (maxsonarez-example maxsonarez.cxx)
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add_executable (hm11-example hm11.cxx)
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add_executable (ht9170-example ht9170.cxx)
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add_executable (h3lis331dl-example h3lis331dl.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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@ -216,6 +217,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/si114x)
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include_directories (${PROJECT_SOURCE_DIR}/src/maxsonarez)
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include_directories (${PROJECT_SOURCE_DIR}/src/hm11)
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include_directories (${PROJECT_SOURCE_DIR}/src/ht9170)
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include_directories (${PROJECT_SOURCE_DIR}/src/h3lis331dl)
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target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
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@ -336,3 +338,4 @@ target_link_libraries (si114x-example si114x ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (maxsonarez-example maxsonarez ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (hm11-example hm11 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (ht9170-example ht9170 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (h3lis331dl-example h3lis331dl ${CMAKE_THREAD_LIBS_INIT})
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80
examples/c++/h3lis331dl.cxx
Normal file
80
examples/c++/h3lis331dl.cxx
Normal file
@ -0,0 +1,80 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 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 <signal.h>
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#include <iostream>
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#include "h3lis331dl.h"
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using namespace std;
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using namespace upm;
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int shouldRun = true;
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void sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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int main(int argc, char **argv)
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate an H3LIS331DL on I2C bus 0
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upm::H3LIS331DL *accel = new upm::H3LIS331DL(H3LIS331DL_I2C_BUS,
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H3LIS331DL_DEFAULT_I2C_ADDR);
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// Initialize the device with default values
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accel->init();
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while (shouldRun)
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{
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int x, y, z;
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float ax, ay, az;
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accel->update();
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accel->getRawXYZ(&x, &y, &z);
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accel->getAcceleration(&ax, &ay, &az);
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cout << "Raw: X = " << x << " Y = " << y << " Z = " << z << endl;
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cout << "Acceleration: AX = " << ax << " AY = " << ay << " AZ = " << az
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<< endl;
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cout << endl;
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usleep(500000);
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}
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//! [Interesting]
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cout << "Exiting..." << endl;
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delete accel;
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return 0;
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}
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91
examples/javascript/h3lis331dl.js
Normal file
91
examples/javascript/h3lis331dl.js
Normal file
@ -0,0 +1,91 @@
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/*jslint node:true, vars:true, bitwise:true, unparam:true */
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/*jshint unused:true */
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 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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var digitalAccelerometer = require('jsupm_h3lis331dl');
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// Instantiate an H3LIS331DL on I2C bus 0
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var myDigitalAccelerometer = new digitalAccelerometer.H3LIS331DL(
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digitalAccelerometer.H3LIS331DL_I2C_BUS,
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digitalAccelerometer.H3LIS331DL_DEFAULT_I2C_ADDR);
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// Initialize the device with default values
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myDigitalAccelerometer.init();
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var x, y, z;
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x = digitalAccelerometer.new_intp();
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y = digitalAccelerometer.new_intp();
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z = digitalAccelerometer.new_intp();
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var ax, ay, az;
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ax = digitalAccelerometer.new_floatp();
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ay = digitalAccelerometer.new_floatp();
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az = digitalAccelerometer.new_floatp();
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var outputStr;
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var myInterval = setInterval(function()
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{
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myDigitalAccelerometer.update();
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myDigitalAccelerometer.getRawXYZ(x, y, z);
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outputStr = "Raw: X = " + digitalAccelerometer.intp_value(x) +
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" Y = " + digitalAccelerometer.intp_value(y) +
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" Z = " + digitalAccelerometer.intp_value(z);
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console.log(outputStr);
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myDigitalAccelerometer.getAcceleration(ax, ay, az);
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outputStr = "Acceleration: AX = "
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+ roundNum(digitalAccelerometer.floatp_value(ax), 6)
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+ " AY = " + roundNum(digitalAccelerometer.floatp_value(ay), 6)
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+ " AZ = " + roundNum(digitalAccelerometer.floatp_value(az), 6);
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console.log(outputStr);
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}, 500);
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// round off output to match C example, which has 6 decimal places
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function roundNum(num, decimalPlaces)
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{
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var extraNum = (1 / (Math.pow(10, decimalPlaces) * 1000));
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return (Math.round((num + extraNum)
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* (Math.pow(10, decimalPlaces))) / Math.pow(10, decimalPlaces));
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}
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// When exiting: clear interval and print message
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process.on('SIGINT', function()
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{
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clearInterval(myInterval);
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// clean up memory
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digitalAccelerometer.delete_intp(x);
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digitalAccelerometer.delete_intp(y);
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digitalAccelerometer.delete_intp(z);
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digitalAccelerometer.delete_floatp(ax);
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digitalAccelerometer.delete_floatp(ay);
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digitalAccelerometer.delete_floatp(az);
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console.log("Exiting...");
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process.exit(0);
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});
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76
examples/python/h3lis331dl.py
Normal file
76
examples/python/h3lis331dl.py
Normal file
@ -0,0 +1,76 @@
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#!/usr/bin/python
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# Author: Jon Trulson <jtrulson@ics.com>
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# Copyright (c) 2015 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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import time, sys, signal, atexit
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import pyupm_h3lis331dl as upmH3LIS331DL
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# Instantiate an H3LIS331DL on I2C bus 0
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myDigitalAccelerometer = upmH3LIS331DL.H3LIS331DL(
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upmH3LIS331DL.H3LIS331DL_I2C_BUS,
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upmH3LIS331DL.H3LIS331DL_DEFAULT_I2C_ADDR);
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## Exit handlers ##
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# This function stops python from printing a stacktrace when you hit control-C
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def SIGINTHandler(signum, frame):
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raise SystemExit
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# This function lets you run code on exit, including functions from myDigitalAccelerometer
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def exitHandler():
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print "Exiting"
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sys.exit(0)
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# Register exit handlers
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atexit.register(exitHandler)
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signal.signal(signal.SIGINT, SIGINTHandler)
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# Initialize the device with default values
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myDigitalAccelerometer.init()
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x = upmH3LIS331DL.new_intp()
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y = upmH3LIS331DL.new_intp()
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z = upmH3LIS331DL.new_intp()
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ax = upmH3LIS331DL.new_floatp()
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ay = upmH3LIS331DL.new_floatp()
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az = upmH3LIS331DL.new_floatp()
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while (1):
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myDigitalAccelerometer.update()
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myDigitalAccelerometer.getRawXYZ(x, y, z)
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outputStr = ("Raw: X = {0}"
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" Y = {1}"
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" Z = {2}").format(upmH3LIS331DL.intp_value(x),
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upmH3LIS331DL.intp_value(y),
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upmH3LIS331DL.intp_value(z))
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print outputStr
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myDigitalAccelerometer.getAcceleration(ax, ay, az)
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outputStr = ("Acceleration: AX = {0}"
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" AY = {1}"
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" AZ = {2}").format(upmH3LIS331DL.floatp_value(ax),
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upmH3LIS331DL.floatp_value(ay),
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upmH3LIS331DL.floatp_value(az))
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print outputStr
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time.sleep(.5)
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5
src/h3lis331dl/CMakeLists.txt
Normal file
5
src/h3lis331dl/CMakeLists.txt
Normal file
@ -0,0 +1,5 @@
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set (libname "h3lis331dl")
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set (libdescription "upm h3lis331dl I2c Accelerometer (400g)")
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set (module_src ${libname}.cxx)
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set (module_h ${libname}.h)
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upm_module_init()
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569
src/h3lis331dl/h3lis331dl.cxx
Normal file
569
src/h3lis331dl/h3lis331dl.cxx
Normal file
@ -0,0 +1,569 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 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
|
||||
* "Software"), to deal in the Software without restriction, including
|
||||
* 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
|
||||
* 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.
|
||||
*
|
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* 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
|
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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 <math.h>
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#include <iostream>
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#include <string>
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#include "h3lis331dl.h"
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using namespace upm;
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using namespace std;
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H3LIS331DL::H3LIS331DL(int bus, uint8_t address):
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m_i2c(bus)
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{
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m_addr = address;
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mraa_result_t rv;
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if ( (rv = m_i2c.address(m_addr)) != MRAA_SUCCESS)
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{
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cerr << "H3LIS331DL: Could not initialize i2c address. " << endl;
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mraa_result_print(rv);
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return;
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}
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m_rawX = m_rawY = m_rawZ = 0;
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setAdjustmentOffsets(0, 0, 0);
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}
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H3LIS331DL::~H3LIS331DL()
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{
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}
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bool H3LIS331DL::init(DR_BITS_T odr, PM_BITS_T pm, FS_BITS_T fs)
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{
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if (!setDataRate(odr))
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return false;
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if (!setPowerMode(pm))
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return false;
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if (!setFullScale(fs))
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return false;
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// now enable X, Y, and Z axes
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if (enableAxis(REG1_XEN | REG1_YEN | REG1_ZEN))
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return false;
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return true;
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}
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uint8_t H3LIS331DL::getChipID()
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{
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return m_i2c.readReg(REG_WHOAMI);
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}
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bool H3LIS331DL::setDataRate(DR_BITS_T odr)
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{
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uint8_t reg1 = m_i2c.readReg(REG_REG1);
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reg1 &= ~(REG1_DR0 | REG1_DR1);
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reg1 |= (odr << REG1_DR_SHIFT);
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if (m_i2c.writeReg(REG_REG1, reg1))
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{
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cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
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return false;
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}
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return true;
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}
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bool H3LIS331DL::setPowerMode(PM_BITS_T pm)
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{
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uint8_t reg1 = m_i2c.readReg(REG_REG1);
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reg1 &= ~(REG1_PM0 | REG1_PM1 | REG1_PM2);
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reg1 |= (pm << REG1_PM_SHIFT);
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if (m_i2c.writeReg(REG_REG1, reg1))
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{
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cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
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return false;
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}
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return true;
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}
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bool H3LIS331DL::enableAxis(uint8_t axisEnable)
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{
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uint8_t reg1 = m_i2c.readReg(REG_REG1);
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reg1 &= ~(REG1_XEN | REG1_YEN | REG1_ZEN);
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reg1 |= (axisEnable & (REG1_XEN | REG1_YEN | REG1_ZEN));
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if (m_i2c.writeReg(REG_REG1, reg1))
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{
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cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
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return false;
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}
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return true;
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}
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bool H3LIS331DL::setFullScale(FS_BITS_T fs)
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{
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uint8_t reg4 = m_i2c.readReg(REG_REG4);
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reg4 &= ~(REG4_FS0 | REG4_FS1);
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reg4 |= (fs << REG4_FS_SHIFT);
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if (m_i2c.writeReg(REG_REG4, reg4))
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{
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cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
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return false;
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}
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return true;
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}
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bool H3LIS331DL::setHPCF(HPCF_BITS_T val)
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{
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uint8_t reg = m_i2c.readReg(REG_REG2);
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reg &= ~(REG2_HPCF0 | REG2_HPCF1);
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reg |= (val << REG2_HPCF_SHIFT);
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if (m_i2c.writeReg(REG_REG2, reg))
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{
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cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
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return false;
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}
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return true;
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}
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bool H3LIS331DL::setHPM(HPM_BITS_T val)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG2);
|
||||
|
||||
reg &= ~(REG2_HPM0 | REG2_HPM1);
|
||||
reg |= (val << REG2_HPM_SHIFT);
|
||||
|
||||
if (m_i2c.writeReg(REG_REG2, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::boot()
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG2);
|
||||
|
||||
reg |= REG2_BOOT;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG2, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
// wait for the boot bit to clear
|
||||
do {
|
||||
reg = m_i2c.readReg(REG_REG2);
|
||||
usleep(200000);
|
||||
} while (reg & REG2_BOOT);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::enableHPF1(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG2);
|
||||
|
||||
if (enable)
|
||||
reg |= REG2_HPEN1;
|
||||
else
|
||||
reg &= ~REG2_HPEN1;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG2, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::enableHPF2(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG2);
|
||||
|
||||
if (enable)
|
||||
reg |= REG2_HPEN2;
|
||||
else
|
||||
reg &= ~REG2_HPEN2;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG2, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::enableFDS(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG2);
|
||||
|
||||
if (enable)
|
||||
reg |= REG2_FDS;
|
||||
else
|
||||
reg &= ~REG2_FDS;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG2, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterruptActiveLow(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG3);
|
||||
|
||||
if (enable)
|
||||
reg |= REG3_IHL;
|
||||
else
|
||||
reg &= ~REG3_IHL;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG3, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterruptOpenDrain(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG3);
|
||||
|
||||
if (enable)
|
||||
reg |= REG3_PP_OD;
|
||||
else
|
||||
reg &= ~REG3_PP_OD;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG3, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt1Latch(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG3);
|
||||
|
||||
if (enable)
|
||||
reg |= REG3_LIR1;
|
||||
else
|
||||
reg &= ~REG3_LIR1;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG3, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt2Latch(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG3);
|
||||
|
||||
if (enable)
|
||||
reg |= REG3_LIR2;
|
||||
else
|
||||
reg &= ~REG3_LIR2;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG3, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt1PadConfig(I_CFG_BITS_T val)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG3);
|
||||
|
||||
reg &= ~(REG3_I1_CFG0 | REG3_I1_CFG1);
|
||||
reg |= (val << REG3_I1_CFG_SHIFT);
|
||||
|
||||
if (m_i2c.writeReg(REG_REG3, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt2PadConfig(I_CFG_BITS_T val)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG3);
|
||||
|
||||
reg &= ~(REG3_I2_CFG0 | REG3_I2_CFG1);
|
||||
reg |= (val << REG3_I2_CFG_SHIFT);
|
||||
|
||||
if (m_i2c.writeReg(REG_REG3, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool H3LIS331DL::enableBDU(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG4);
|
||||
|
||||
if (enable)
|
||||
reg |= REG4_BDU;
|
||||
else
|
||||
reg &= ~REG4_BDU;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG4, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::enableBLE(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG4);
|
||||
|
||||
if (enable)
|
||||
reg |= REG4_BLE;
|
||||
else
|
||||
reg &= ~REG4_BLE;
|
||||
|
||||
if (m_i2c.writeReg(REG_REG4, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::enableSleepToWake(bool enable)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_REG5);
|
||||
|
||||
if (enable)
|
||||
reg |= (REG5_TURNON0 | REG5_TURNON1);
|
||||
else
|
||||
reg &= ~(REG5_TURNON0 | REG5_TURNON1);
|
||||
|
||||
if (m_i2c.writeReg(REG_REG5, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
uint8_t H3LIS331DL::getStatus()
|
||||
{
|
||||
return m_i2c.readReg(REG_STATUS);
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt1Config(uint8_t val)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_INT1_CFG);
|
||||
|
||||
// mask off reserved bit
|
||||
reg = (val & ~0x40);
|
||||
|
||||
if (m_i2c.writeReg(REG_INT1_CFG, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt1Source(uint8_t val)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_INT1_SRC);
|
||||
|
||||
// mask off reserved bit
|
||||
reg = (val & ~0x80);
|
||||
|
||||
if (m_i2c.writeReg(REG_INT1_SRC, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt1Threshold(uint8_t val)
|
||||
{
|
||||
if (m_i2c.writeReg(REG_INT1_THS, val))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt1Duration(uint8_t val)
|
||||
{
|
||||
if (m_i2c.writeReg(REG_INT1_DUR, val))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt2Config(uint8_t val)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_INT2_CFG);
|
||||
|
||||
// mask off reserved bit
|
||||
reg = (val & ~0x40);
|
||||
|
||||
if (m_i2c.writeReg(REG_INT2_CFG, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt2Source(uint8_t val)
|
||||
{
|
||||
uint8_t reg = m_i2c.readReg(REG_INT2_SRC);
|
||||
|
||||
// mask off reserved bit
|
||||
reg = (val & ~0x80);
|
||||
|
||||
if (m_i2c.writeReg(REG_INT2_SRC, reg))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt2Threshold(uint8_t val)
|
||||
{
|
||||
if (m_i2c.writeReg(REG_INT2_THS, val))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool H3LIS331DL::setInterrupt2Duration(uint8_t val)
|
||||
{
|
||||
if (m_i2c.writeReg(REG_INT2_DUR, val))
|
||||
{
|
||||
cerr << __FUNCTION__ << "@" << __LINE__ << ": writeReg failed" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void H3LIS331DL::update()
|
||||
{
|
||||
uint8_t low, high;
|
||||
|
||||
// X
|
||||
low = m_i2c.readReg(REG_OUT_X_L);
|
||||
high = m_i2c.readReg(REG_OUT_X_H);
|
||||
m_rawX = ((high << 8) | low);
|
||||
|
||||
// Y
|
||||
low = m_i2c.readReg(REG_OUT_Y_L);
|
||||
high = m_i2c.readReg(REG_OUT_Y_H);
|
||||
m_rawY = ((high << 8) | low);
|
||||
|
||||
// Z
|
||||
low = m_i2c.readReg(REG_OUT_Z_L);
|
||||
high = m_i2c.readReg(REG_OUT_Z_H);
|
||||
m_rawZ = ((high << 8) | low);
|
||||
}
|
||||
|
||||
void H3LIS331DL::setAdjustmentOffsets(int adjX, int adjY, int adjZ)
|
||||
{
|
||||
m_adjX = adjX;
|
||||
m_adjY = adjY;
|
||||
m_adjZ = adjZ;
|
||||
}
|
||||
|
||||
void H3LIS331DL::getAcceleration(float *aX, float *aY, float *aZ)
|
||||
{
|
||||
const float gains = 0.003; // Seeed magic number?
|
||||
|
||||
*aX = float(m_rawX - m_adjX) * gains;
|
||||
*aY = float(m_rawY - m_adjY) * gains;
|
||||
*aZ = float(m_rawZ - m_adjZ) * gains;
|
||||
}
|
||||
|
||||
void H3LIS331DL::getRawXYZ(int *x, int *y, int*z)
|
||||
{
|
||||
*x = m_rawX;
|
||||
*y = m_rawY;
|
||||
*z = m_rawZ;
|
||||
}
|
||||
|
||||
void H3LIS331DL::getXYZ(int *x, int *y, int*z)
|
||||
{
|
||||
*x = (m_rawX - m_adjX);
|
||||
*y = (m_rawY - m_adjY);
|
||||
*z = (m_rawZ - m_adjZ);
|
||||
}
|
||||
613
src/h3lis331dl/h3lis331dl.h
Normal file
613
src/h3lis331dl/h3lis331dl.h
Normal file
@ -0,0 +1,613 @@
|
||||
/*
|
||||
* 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.hpp>
|
||||
|
||||
#define H3LIS331DL_I2C_BUS 0
|
||||
#define H3LIS331DL_DEFAULT_I2C_ADDR 0x18
|
||||
|
||||
namespace upm {
|
||||
|
||||
/**
|
||||
* @brief Grove 3-axis I2C Accelerometer (400G)
|
||||
* @defgroup h3lis331dl libupm-h3lis331dl
|
||||
* @ingroup seeed i2c accelerometer
|
||||
*/
|
||||
|
||||
/**
|
||||
* @library h3lis331dl
|
||||
* @sensor h3lis331dl
|
||||
* @comname Grove 3-axis I2C Accelerometer (400G)
|
||||
* @type accelerometer
|
||||
* @man seeed
|
||||
* @web http://www.seeedstudio.com/depot/Grove-3Axis-Digital-Accelerometer400g-p-1897.html
|
||||
* @con i2c
|
||||
*
|
||||
* @brief C++ API for the H3LIS331DL based Grove 3-axis I2C Accelerometer
|
||||
* (400G)
|
||||
*
|
||||
* @image html h3lis331dl.jpg
|
||||
* @snippet h3lis331dl.cxx Interesting
|
||||
*/
|
||||
class H3LIS331DL {
|
||||
public:
|
||||
|
||||
/**
|
||||
* H3LIS331DL registers
|
||||
*/
|
||||
typedef enum {
|
||||
// Reserved bytes must not be written into as they contain
|
||||
// factory calibration data. Changing those values may lead to
|
||||
// improper functioning of the device.
|
||||
|
||||
// 0x00-0x0E reserved
|
||||
|
||||
REG_WHOAMI = 0x0f,
|
||||
|
||||
// 0x10-0x1f reserved
|
||||
|
||||
REG_REG1 = 0x20,
|
||||
REG_REG2 = 0x21,
|
||||
REG_REG3 = 0x22,
|
||||
REG_REG4 = 0x23,
|
||||
REG_REG5 = 0x24,
|
||||
|
||||
REG_HP_FILTER_RESET = 0x25,
|
||||
REG_REFERENCE = 0x26,
|
||||
|
||||
REG_STATUS = 0x27,
|
||||
|
||||
REG_OUT_X_L = 0x28,
|
||||
REG_OUT_X_H = 0x29,
|
||||
REG_OUT_Y_L = 0x2a,
|
||||
REG_OUT_Y_H = 0x2b,
|
||||
REG_OUT_Z_L = 0x2c,
|
||||
REG_OUT_Z_H = 0x2d,
|
||||
|
||||
// 0x2e, 0x2f reserved
|
||||
|
||||
REG_INT1_CFG = 0x30,
|
||||
REG_INT1_SRC = 0x31,
|
||||
REG_INT1_THS = 0x32,
|
||||
REG_INT1_DUR = 0x33,
|
||||
|
||||
REG_INT2_CFG = 0x34,
|
||||
REG_INT2_SRC = 0x35,
|
||||
REG_INT2_THS = 0x36,
|
||||
REG_INT2_DUR = 0x37,
|
||||
|
||||
// 0x38-0x3f reserved
|
||||
} H3LIS331DL_REG_T;
|
||||
|
||||
/**
|
||||
* REG1 bits
|
||||
*/
|
||||
typedef enum {
|
||||
REG1_XEN = 0x01, // X axis enable
|
||||
REG1_YEN = 0x02,
|
||||
REG1_ZEN = 0x04,
|
||||
|
||||
REG1_DR0 = 0x08, // data rate
|
||||
REG1_DR1 = 0x10,
|
||||
REG1_DR_SHIFT = 3, // DR shift
|
||||
|
||||
REG1_PM0 = 0x20, // power mode
|
||||
REG1_PM1 = 0x40,
|
||||
REG1_PM2 = 0x80,
|
||||
REG1_PM_SHIFT = 5
|
||||
} REG1_BITS_T;
|
||||
|
||||
/**
|
||||
* REG1 DR (output rate) bits
|
||||
*/
|
||||
typedef enum {
|
||||
DR_50_37 = 0x0, // 50Hz output with 37Hz LPF cutoff
|
||||
DR_100_74 = 0x1,
|
||||
DR_400_292 = 0x2,
|
||||
DR_1000_780 = 0x3
|
||||
} DR_BITS_T;
|
||||
|
||||
/**
|
||||
* REG1 PM (Power mode) bits
|
||||
*/
|
||||
typedef enum {
|
||||
PM_POWERDWN = 0x0,
|
||||
PM_NORMAL = 0x1,
|
||||
PM_LP05 = 0x2, // .5 updates/sec
|
||||
PM_LP1 = 0x3, // 1 update/sec
|
||||
PM_LP2 = 0x4,
|
||||
PM_LP5 = 0x5,
|
||||
PM_LP10 = 0x6
|
||||
} PM_BITS_T;
|
||||
|
||||
/**
|
||||
* REG2 bits
|
||||
*/
|
||||
typedef enum {
|
||||
REG2_HPCF0 = 0x01,
|
||||
REG2_HPCF1 = 0x02,
|
||||
REG2_HPCF_SHIFT = 0,
|
||||
|
||||
REG2_HPEN1 = 0x04,
|
||||
REG2_HPEN2 = 0x08,
|
||||
REG2_FDS = 0x10,
|
||||
|
||||
REG2_HPM0 = 0x20,
|
||||
REG2_HPM1 = 0x40,
|
||||
REG2_HPM_SHIFT = 5,
|
||||
|
||||
REG2_BOOT = 0x80
|
||||
} REG2_BITS_T;
|
||||
|
||||
/**
|
||||
* REG2 HPCF (High Pass Cutoff Frequency) bits
|
||||
*/
|
||||
typedef enum {
|
||||
HPCF_8 = 0x0,
|
||||
HPCF_16 = 0x1,
|
||||
HPCF_32 = 0x2,
|
||||
HPCF_64 = 0x3,
|
||||
} HPCF_BITS_T;
|
||||
|
||||
/**
|
||||
* REG2 HPM (High Pass Filter Mode) bits
|
||||
*/
|
||||
typedef enum {
|
||||
HPM_NORMAL0 = 0x0,
|
||||
HPM_REF = 0x1,
|
||||
HPM_NORMAL1 = 0x2
|
||||
} HPM_BITS_T;
|
||||
|
||||
/**
|
||||
* REG3 bits
|
||||
*/
|
||||
typedef enum {
|
||||
REG3_I1_CFG0 = 0x01,
|
||||
REG3_I1_CFG1 = 0x02,
|
||||
REG3_I1_CFG_SHIFT = 0,
|
||||
|
||||
REG3_LIR1 = 0x04,
|
||||
|
||||
REG3_I2_CFG0 = 0x08,
|
||||
REG3_I2_CFG1 = 0x10,
|
||||
REG3_I2_CFG_SHIFT = 3,
|
||||
|
||||
REG3_LIR2 = 0x20,
|
||||
REG3_PP_OD = 0x40,
|
||||
REG3_IHL = 0x80
|
||||
} REG3_BITS_T;
|
||||
|
||||
/**
|
||||
* REG3 I1/I2 PAD control bits
|
||||
*/
|
||||
typedef enum {
|
||||
I_SRC = 0x0, // INT source
|
||||
I_OR = 0x1, // INT1 OR INT2 source
|
||||
I_DR = 0x2, // Data Ready
|
||||
I_BOOTING = 0x3 // Boot is running
|
||||
} I_CFG_BITS_T;
|
||||
|
||||
/**
|
||||
* REG4 bits
|
||||
*/
|
||||
typedef enum {
|
||||
REG4_SIM = 0x01, // SPI 4 or 3 wire
|
||||
|
||||
// bits 01,02,04 reserved
|
||||
|
||||
REG4_FS0 = 0x10,
|
||||
REG4_FS1 = 0x20,
|
||||
REG4_FS_SHIFT = 4,
|
||||
|
||||
REG4_BLE = 0x40, // big/little endian
|
||||
REG4_BDU = 0x80 // Block data update
|
||||
} REG4_BITS_T;
|
||||
|
||||
/**
|
||||
* REG4 FS (Full Scale) bits
|
||||
*/
|
||||
typedef enum {
|
||||
FS_100 = 0x0, // 100g scale
|
||||
FS_200 = 0x1, // 200g scale
|
||||
FS_400 = 0x3 // 400g scale
|
||||
} FS_BITS_T;
|
||||
|
||||
/**
|
||||
* REG5 TURNON (sleep to wake) bits
|
||||
*/
|
||||
typedef enum {
|
||||
REG5_TURNON0 = 0x01, // turnon mode for sleep-to-wake
|
||||
REG5_TURNON1 = 0x02
|
||||
|
||||
// bits 04-80 reserved
|
||||
} REG5_BITS_T;
|
||||
|
||||
/**
|
||||
* STATUS bits
|
||||
*/
|
||||
typedef enum {
|
||||
STATUS_XDA = 0x01, // X data available
|
||||
STATUS_YDA = 0x02,
|
||||
STATUS_ZDA = 0x04,
|
||||
STATUS_ZYXDA = 0x08, // X, Y, and Z data available
|
||||
STATUS_XOR = 0x10, // X overrun
|
||||
STATUS_YOR = 0x20,
|
||||
STATUS_ZOR = 0x40,
|
||||
STATUS_ZYXOR = 0x80 // X, Y, and Z data overrun
|
||||
} STATUS_BITS_T;
|
||||
|
||||
/**
|
||||
* INT1/INT2 CFG bits
|
||||
*/
|
||||
typedef enum {
|
||||
INT_CFG_XLIE = 0x01, // enable intr on low X event
|
||||
INT_CFG_XHIE = 0x02, // enable intr on high X event
|
||||
INT_CFG_YLIE = 0x04,
|
||||
INT_CFG_YHIE = 0x08,
|
||||
INT_CFG_ZLIE = 0x10,
|
||||
INT_CFG_ZHIE = 0x20,
|
||||
// 0x40 reserved
|
||||
INT_CFG_AOI = 0x80 // AND or OR combination or intrs
|
||||
} INT_CFG_BITS_T;
|
||||
|
||||
/**
|
||||
* INT1/INT2 SRC bits
|
||||
*/
|
||||
typedef enum {
|
||||
INT_SRC_XL = 0x01, // X low intr event
|
||||
INT_SRC_XH = 0x02, // X high intr event
|
||||
INT_SRC_YL = 0x04,
|
||||
INT_SRC_YH = 0x08,
|
||||
INT_SRC_ZL = 0x10,
|
||||
INT_SRC_ZH = 0x20,
|
||||
INT_SRC_IA = 0x40 // Interrupt generated (active)
|
||||
// 0x80 reserved
|
||||
} INT_SRC_BITS_T;
|
||||
|
||||
/**
|
||||
* h3lis331dl constructor
|
||||
*
|
||||
* @param bus i2c bus to use
|
||||
* @param address the address for this device
|
||||
*/
|
||||
H3LIS331DL(int bus, uint8_t address = H3LIS331DL_DEFAULT_I2C_ADDR);
|
||||
|
||||
/**
|
||||
* H3LIS331DL Destructor
|
||||
*/
|
||||
~H3LIS331DL();
|
||||
|
||||
/**
|
||||
* set up initial values and start operation
|
||||
*
|
||||
* @param odr the data rate: one of the DR_BITS_T values
|
||||
* @param pm the power mode: one of the PM_BITS_T values
|
||||
* @param fs the FullScale: one of the FS_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool init(DR_BITS_T odr=DR_50_37, PM_BITS_T pm=PM_NORMAL,
|
||||
FS_BITS_T fs=FS_100);
|
||||
|
||||
/**
|
||||
* read and return the Chip ID (WHO_AM_I register)
|
||||
*
|
||||
* @return true if successful
|
||||
*/
|
||||
uint8_t getChipID();
|
||||
|
||||
/**
|
||||
* set the output data rate
|
||||
*
|
||||
* @param one of the DR_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setDataRate(DR_BITS_T odr);
|
||||
|
||||
/**
|
||||
* set the power mode
|
||||
*
|
||||
* @param one of the PM_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setPowerMode(PM_BITS_T pm);
|
||||
|
||||
/**
|
||||
* enable one or more of the 3 axes. The arguement is a bitmsk
|
||||
* composed of REG1_XEN, REG1_YEN and/or REG1_ZEN corresponding
|
||||
* the axes you want enabled.
|
||||
*
|
||||
* @param axisEnable bitmask of axes to enable
|
||||
* (REG1_XEN | REG1_YEN | REG1_ZEN)
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableAxis(uint8_t axisEnable);
|
||||
|
||||
/**
|
||||
* set the scaling factor to 100, 200, or 400G's
|
||||
*
|
||||
* @param fs one of the FS_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setFullScale(FS_BITS_T fs);
|
||||
|
||||
/**
|
||||
* set high pass cutoff filter
|
||||
*
|
||||
* @param val one of the HPCF_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setHPCF(HPCF_BITS_T val);
|
||||
|
||||
/**
|
||||
* set high pass filter mode
|
||||
*
|
||||
* @param val one of the HPM_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setHPM(HPM_BITS_T val);
|
||||
|
||||
/**
|
||||
* boot the device. Booting the device causes internal flash
|
||||
* calibration values to be reloaded into the visible registers,
|
||||
* in the event they have been corrupted. This function will
|
||||
* return when boot is complete.
|
||||
*
|
||||
* @return true if successful
|
||||
*/
|
||||
bool boot();
|
||||
|
||||
/**
|
||||
* enable high pass filter for interrupt 1 source
|
||||
*
|
||||
* @param enable true to enable the filter, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableHPF1(bool enable);
|
||||
|
||||
/**
|
||||
* enable high pass filter for interrupt 2 source
|
||||
*
|
||||
* @param enable true to enable the filter, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableHPF2(bool enable);
|
||||
|
||||
/**
|
||||
* enable filtered data selection
|
||||
*
|
||||
* @param enable true to enable, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableFDS(bool enable);
|
||||
|
||||
/**
|
||||
* set interrupts to be active low instead of high
|
||||
*
|
||||
* @param enable true to enable, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterruptActiveLow(bool enable);
|
||||
|
||||
/**
|
||||
* set interrupt output mode to open drain rather than push/pull
|
||||
*
|
||||
* @param enable true to enable, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterruptOpenDrain(bool enable);
|
||||
|
||||
/**
|
||||
* set interrupt 1 latch enable
|
||||
*
|
||||
* @param enable true to enable, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt1Latch(bool enable);
|
||||
|
||||
/**
|
||||
* set interrupt 2 latch enable
|
||||
*
|
||||
* @param enable true to enable, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt2Latch(bool enable);
|
||||
|
||||
/**
|
||||
* set the interrupt 1 pad configuration
|
||||
*
|
||||
* @param val one fo the I_CFG_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt1PadConfig(I_CFG_BITS_T val);
|
||||
|
||||
/**
|
||||
* set the interrupt 2 pad configuration
|
||||
*
|
||||
* @param val one fo the I_CFG_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt2PadConfig(I_CFG_BITS_T val);
|
||||
|
||||
/**
|
||||
* enable block data update. When enabled, low/high output
|
||||
* registers are not update until both low and high values have
|
||||
* been read.
|
||||
*
|
||||
* @param enable true to enable, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableBDU(bool enable);
|
||||
|
||||
/**
|
||||
* enable big endian output for 16b reads
|
||||
*
|
||||
* @param enable true to enable, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableBLE(bool enable);
|
||||
|
||||
/**
|
||||
* enable sleep to wake functionality.
|
||||
*
|
||||
* @param enable true to enable, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableSleepToWake(bool enable);
|
||||
|
||||
/**
|
||||
* return the contents of the REG_STATUS register
|
||||
*
|
||||
* @return the contents of the REG_STATUS register
|
||||
*/
|
||||
uint8_t getStatus();
|
||||
|
||||
/**
|
||||
* setup the interrupt 1 config register
|
||||
*
|
||||
* @param val a bitmask of desired INT_CFG_BITS_T bits
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt1Config(uint8_t val);
|
||||
|
||||
/**
|
||||
* setup the interrupt 2 config register
|
||||
*
|
||||
* @param val a bitmask of desired INT_CFG_BITS_T bits
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt2Config(uint8_t val);
|
||||
|
||||
/**
|
||||
* setup the interrupt 1 source register
|
||||
*
|
||||
* @param val a bitmask of desired INT_SRC_BITS_T bits
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt1Source(uint8_t val);
|
||||
|
||||
/**
|
||||
* setup the interrupt 2 source register
|
||||
*
|
||||
* @param val a bitmask of desired INT_SRC_BITS_T bits
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt2Source(uint8_t val);
|
||||
|
||||
/**
|
||||
* setup the interrupt 1 threshold register
|
||||
*
|
||||
* @param val the threshhold to set
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt1Threshold(uint8_t val);
|
||||
|
||||
/**
|
||||
* setup the interrupt 2 threshold register
|
||||
*
|
||||
* @param val the threshhold to set
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt2Threshold(uint8_t val);
|
||||
|
||||
/**
|
||||
* setup the interrupt 1 duration register
|
||||
*
|
||||
* @param val the duration to set
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt1Duration(uint8_t val);
|
||||
|
||||
/**
|
||||
* setup the interrupt 2 duration register
|
||||
*
|
||||
* @param val the duration to set
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterrupt2Duration(uint8_t val);
|
||||
|
||||
/**
|
||||
* read the sensor and store current values internally
|
||||
*/
|
||||
void update();
|
||||
|
||||
/**
|
||||
* set adjustment offsets for each of the axes. This can be used
|
||||
* for calibration. The values supplied here will be subtracted
|
||||
* from the axis data read from the device.
|
||||
*
|
||||
* @param adjX the amount by which to correct the X axis measurement
|
||||
* @param adjY the amount by which to correct the Y axis measurement
|
||||
* @param adjZ the amount by which to correct the Z axis measurement
|
||||
*/
|
||||
void setAdjustmentOffsets(int adjX, int adjY, int adjZ);
|
||||
|
||||
/**
|
||||
* get the acceleration values for each of the axes
|
||||
*
|
||||
* @param aX the returned X acceleration
|
||||
* @param aY the returned Y acceleration
|
||||
* @param aZ the returned Z acceleration
|
||||
*/
|
||||
void getAcceleration(float *aX, float *aY, float *aZ);
|
||||
|
||||
/**
|
||||
* get the raw axis values
|
||||
*
|
||||
* @param x the returned raw X value
|
||||
* @param y the returned raw Y value
|
||||
* @param z the returned raw Z value
|
||||
*/
|
||||
void getRawXYZ(int *x, int *y, int *z);
|
||||
|
||||
/**
|
||||
* get the adjusted axis values
|
||||
*
|
||||
* @param x the returned X value
|
||||
* @param y the returned Y value
|
||||
* @param z the returned Z value
|
||||
*/
|
||||
void getXYZ(int *x, int *y, int *z);
|
||||
|
||||
/**
|
||||
* provide public access to the class's MRAA i2C context for
|
||||
* direct user access
|
||||
*
|
||||
* @return a reference to the class i2c context
|
||||
*/
|
||||
mraa::I2c& i2cContext() { return m_i2c; };
|
||||
|
||||
|
||||
protected:
|
||||
int16_t m_rawX, m_rawY, m_rawZ;
|
||||
int16_t m_adjX, m_adjY, m_adjZ;
|
||||
mraa::I2c m_i2c;
|
||||
|
||||
private:
|
||||
uint8_t m_addr;
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
13
src/h3lis331dl/jsupm_h3lis331dl.i
Normal file
13
src/h3lis331dl/jsupm_h3lis331dl.i
Normal file
@ -0,0 +1,13 @@
|
||||
%module jsupm_h3lis331dl
|
||||
%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 "h3lis331dl.h"
|
||||
%}
|
||||
|
||||
%include "h3lis331dl.h"
|
||||
18
src/h3lis331dl/pyupm_h3lis331dl.i
Normal file
18
src/h3lis331dl/pyupm_h3lis331dl.i
Normal file
@ -0,0 +1,18 @@
|
||||
%module pyupm_h3lis331dl
|
||||
%include "../upm.i"
|
||||
%include "cpointer.i"
|
||||
|
||||
/* Send "int *" and "float *" to python as intp and floatp */
|
||||
%pointer_functions(int, intp);
|
||||
%pointer_functions(float, floatp);
|
||||
|
||||
%feature("autodoc", "3");
|
||||
|
||||
#ifdef DOXYGEN
|
||||
%include "h3lis331dl_doc.i"
|
||||
#endif
|
||||
|
||||
%include "h3lis331dl.h"
|
||||
%{
|
||||
#include "h3lis331dl.h"
|
||||
%}
|
||||
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Reference in New Issue
Block a user