mirror of
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bma220: Initial implementation
This driver was developed based on the DFRobot Triple Axis accelerometer BMA220 (Tiny): http://www.dfrobot.com/index.php?route=product/product&product_id=1085 This device can only run at 3.3v DC. Do not connect to 5v. Added a private function definition for the installISR function. Done because C++ wasn't able to find the function definition for the java bindings. Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
This commit is contained in:
Jon Trulson
Abhishek Malik
parent
53bc249b75
commit
db721845db
@ -151,6 +151,7 @@ add_executable (xbee-example xbee.cxx)
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add_executable (urm37-example urm37.cxx)
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add_executable (urm37-uart-example urm37-uart.cxx)
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add_executable (adxrs610-example adxrs610.cxx)
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add_executable (bma220-example bma220.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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@ -266,6 +267,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/micsv89)
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include_directories (${PROJECT_SOURCE_DIR}/src/xbee)
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include_directories (${PROJECT_SOURCE_DIR}/src/urm37)
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include_directories (${PROJECT_SOURCE_DIR}/src/adxrs610)
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include_directories (${PROJECT_SOURCE_DIR}/src/bma220)
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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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@ -418,3 +420,4 @@ target_link_libraries (xbee-example xbee ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (urm37-example urm37 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (urm37-uart-example urm37 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (adxrs610-example adxrs610 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (bma220-example bma220 ${CMAKE_THREAD_LIBS_INIT})
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70
examples/c++/bma220.cxx
Normal file
70
examples/c++/bma220.cxx
Normal file
@ -0,0 +1,70 @@
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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 <iostream>
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#include <signal.h>
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#include "bma220.h"
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using namespace std;
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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 BMA220 using default parameters (bus 0, addr 0x0a)
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upm::BMA220 *sensor = new upm::BMA220();
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// Output data every half second until interrupted
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while (shouldRun)
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{
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sensor->update();
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float x, y, z;
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sensor->getAccelerometer(&x, &y, &z);
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cout << "Accelerometer: ";
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cout << "AX: " << x << " AY: " << y << " AZ: " << z << 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 sensor;
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return 0;
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}
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59
examples/javascript/bma220.js
Normal file
59
examples/javascript/bma220.js
Normal file
@ -0,0 +1,59 @@
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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 sensorObj = require('jsupm_bma220');
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// Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
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var sensor = new sensorObj.BMA220();
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var x = new sensorObj.new_floatp();
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var y = new sensorObj.new_floatp();
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var z = new sensorObj.new_floatp();
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// Output data every half second until interrupted
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setInterval(function()
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{
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sensor.update();
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sensor.getAccelerometer(x, y, z);
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console.log("Accelerometer: AX: " + sensorObj.floatp_value(x) +
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" AY: " + sensorObj.floatp_value(y) +
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" AZ: " + sensorObj.floatp_value(z));
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}, 500);
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// exit on ^C
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process.on('SIGINT', function()
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{
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sensor = null;
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sensorObj.cleanUp();
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sensorObj = null;
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console.log("Exiting.");
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process.exit(0);
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});
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55
examples/python/bma220.py
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55
examples/python/bma220.py
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@ -0,0 +1,55 @@
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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_bma220 as sensorObj
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# Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
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sensor = sensorObj.BMA220()
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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
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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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x = sensorObj.new_floatp()
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y = sensorObj.new_floatp()
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z = sensorObj.new_floatp()
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while (1):
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sensor.update()
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sensor.getAccelerometer(x, y, z)
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print "Accelerometer: AX:", sensorObj.floatp_value(x),
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print " AY:", sensorObj.floatp_value(y),
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print " AZ:", sensorObj.floatp_value(z)
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time.sleep(.5)
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5
src/bma220/CMakeLists.txt
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5
src/bma220/CMakeLists.txt
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set (libname "bma220")
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set (libdescription "accelerometer sensor based on bma220")
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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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523
src/bma220/bma220.cxx
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523
src/bma220/bma220.cxx
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@ -0,0 +1,523 @@
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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 <iostream>
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#include <stdexcept>
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#include <string>
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#include <string.h>
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#include "bma220.h"
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using namespace upm;
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using namespace std;
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BMA220::BMA220(int bus, uint8_t addr) :
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m_i2c(bus), m_gpioIntr(0)
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{
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m_addr = addr;
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m_accelX = 0.0;
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m_accelY = 0.0;
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m_accelZ = 0.0;
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m_accelScale = 0.0;
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mraa::Result rv;
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if ( (rv = m_i2c.address(m_addr)) != mraa::SUCCESS)
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{
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throw std::runtime_error(string(__FUNCTION__) +
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": I2c.address() failed");
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return;
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}
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// Init the accelerometer
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enableAxes(true, true, true);
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// set scaling rate
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if (!setAccelerometerScale(FSL_RANGE_2G))
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{
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throw std::runtime_error(string(__FUNCTION__) +
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": Unable to set accel scale");
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return;
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}
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}
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BMA220::~BMA220()
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{
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uninstallISR();
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}
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void BMA220::update()
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{
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updateAccelerometer();
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}
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void BMA220::updateAccelerometer()
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{
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int x, y, z;
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char buf = 0;
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buf = (char)readReg(REG_ACC_X);
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x = int(buf) / 4;
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buf = (char)readReg(REG_ACC_Y);
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y = int(buf) / 4;
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buf = (char)readReg(REG_ACC_Z);
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z = int(buf) / 4;
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m_accelX = float(x);
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m_accelY = float(y);
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m_accelZ = float(z);
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}
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uint8_t BMA220::readReg(uint8_t reg)
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{
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return m_i2c.readReg(reg);
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}
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bool BMA220::writeReg(uint8_t reg, uint8_t val)
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{
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mraa::Result rv;
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if ((rv = m_i2c.writeReg(reg, val)) != mraa::SUCCESS)
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{
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throw std::runtime_error(std::string(__FUNCTION__) +
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": I2c.writeReg() failed");
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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 BMA220::setAccelerometerScale(FSL_RANGE_T scale)
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{
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uint8_t reg = readReg(REG_SBIST_FSL_CONFIG);
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reg &= ~(_REG_SBIST_FSL_RANGE_MASK << _REG_SBIST_FSL_RANGE_SHIFT);
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reg |= (scale << _REG_SBIST_FSL_RANGE_SHIFT);
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if (!writeReg(REG_SBIST_FSL_CONFIG, reg))
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{
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return false;
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}
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// store scaling factor
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switch (scale)
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{
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case FSL_RANGE_2G:
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m_accelScale = 16.0;
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break;
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case FSL_RANGE_4G:
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m_accelScale = 8.0;
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break;
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case FSL_RANGE_8G:
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m_accelScale = 4.0;
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break;
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case FSL_RANGE_16G:
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m_accelScale = 2.0;
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break;
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default: // should never occur, but...
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m_accelScale = 0.0; // set a safe, though incorrect value
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throw std::logic_error(string(__FUNCTION__) +
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": internal error, unsupported scale");
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break;
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}
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return true;
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}
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void BMA220::getAccelerometer(float *x, float *y, float *z)
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{
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if (x)
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*x = m_accelX / m_accelScale;
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if (y)
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*y = m_accelY / m_accelScale;
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if (z)
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*z = m_accelZ / m_accelScale;
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}
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#ifdef JAVACALLBACK
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float *BMA220::getAccelerometer()
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{
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float *v = new float[3];
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getAccelerometer(&v[0], &v[1], &v[2]);
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return v;
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}
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#endif
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uint8_t BMA220::getChipID()
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{
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return readReg(REG_CHIPID);
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}
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uint8_t BMA220::getChipRevision()
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{
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return readReg(REG_REVISIONID);
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}
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bool BMA220::setFilterConfig(FILTER_CONFIG_T filter)
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{
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uint8_t reg = readReg(REG_FILTER_CONFIG);
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reg &= ~(_FILTER_CONFIG_FILTER_MASK << _FILTER_CONFIG_FILTER_SHIFT);
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reg |= (filter << _FILTER_CONFIG_FILTER_SHIFT);
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return writeReg(REG_FILTER_CONFIG, reg);
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}
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bool BMA220::setSerialHighBW(bool high)
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{
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uint8_t reg = readReg(REG_FILTER_CONFIG);
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if (high)
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reg |= FILTER_CONFIG_SERIAL_HIGH_BW;
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else
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reg &= ~FILTER_CONFIG_SERIAL_HIGH_BW;
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return writeReg(REG_FILTER_CONFIG, reg);
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}
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bool BMA220::enableAxes(bool xEn, bool yEn, bool zEn)
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{
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uint8_t reg = readReg(REG_ENABLE_CONFIG3);
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if (xEn)
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reg |= ENABLE_CONFIG3_X_CHAN;
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else
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reg &= ~ENABLE_CONFIG3_X_CHAN;
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if (yEn)
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reg |= ENABLE_CONFIG3_Y_CHAN;
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else
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reg &= ~ENABLE_CONFIG3_Y_CHAN;
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if (zEn)
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reg |= ENABLE_CONFIG3_Z_CHAN;
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else
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reg &= ~ENABLE_CONFIG3_Z_CHAN;
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return writeReg(REG_ENABLE_CONFIG3, reg);
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}
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uint8_t BMA220::suspend()
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{
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return readReg(REG_SUSPEND);
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}
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uint8_t BMA220::softReset()
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{
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return readReg(REG_SOFTRESET);
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}
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bool BMA220::sleep(bool enable)
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{
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uint8_t reg = readReg(REG_ENABLE_CONFIG3);
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if (enable)
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reg |= ENABLE_CONFIG3_SLEEP_EN;
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else
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reg &= ~ENABLE_CONFIG3_SLEEP_EN;
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return writeReg(REG_ENABLE_CONFIG3, reg);
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}
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bool BMA220::setSleepDuration(SLEEP_DUR_T dur)
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{
|
||||
uint8_t reg = readReg(REG_ENABLE_CONFIG3);
|
||||
|
||||
reg &= ~(_ENABLE_CONFIG3_SLEEP_DUR_MASK << _ENABLE_CONFIG3_SLEEP_DUR_SHIFT);
|
||||
|
||||
reg |= (dur << _ENABLE_CONFIG3_SLEEP_DUR_SHIFT);
|
||||
|
||||
return writeReg(REG_ENABLE_CONFIG3, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setLowGThreshold(uint8_t thresh)
|
||||
{
|
||||
uint8_t reg = readReg(REG_THRESHOLD);
|
||||
|
||||
thresh &= 0x0f;
|
||||
|
||||
reg &= ~(_THRESHOLD_LOW_MASK << _THRESHOLD_LOW_SHIFT);
|
||||
|
||||
reg |= (thresh << _THRESHOLD_LOW_SHIFT);
|
||||
|
||||
return writeReg(REG_THRESHOLD, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setHighGThreshold(uint8_t thresh)
|
||||
{
|
||||
uint8_t reg = readReg(REG_THRESHOLD);
|
||||
|
||||
thresh &= 0x0f;
|
||||
|
||||
reg &= ~(_THRESHOLD_HIGH_MASK << _THRESHOLD_HIGH_SHIFT);
|
||||
|
||||
reg |= (thresh << _THRESHOLD_HIGH_SHIFT);
|
||||
|
||||
return writeReg(REG_THRESHOLD, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setLowGHysteresis(uint8_t hyst)
|
||||
{
|
||||
uint8_t reg = readReg(REG_L_HYST_DUR);
|
||||
|
||||
hyst &= _L_HYST_DUR_LOW_HY_MASK;
|
||||
|
||||
reg &= ~(_L_HYST_DUR_LOW_HY_MASK << _L_HYST_DUR_LOW_HY_SHIFT);
|
||||
|
||||
reg |= (hyst << _L_HYST_DUR_LOW_HY_SHIFT);
|
||||
|
||||
return writeReg(REG_L_HYST_DUR, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setLowGDuration(uint8_t dur)
|
||||
{
|
||||
uint8_t reg = readReg(REG_L_HYST_DUR);
|
||||
|
||||
dur &= _L_HYST_DUR_LOW_DUR_MASK;
|
||||
|
||||
reg &= ~(_L_HYST_DUR_LOW_DUR_MASK << _L_HYST_DUR_LOW_DUR_SHIFT);
|
||||
|
||||
reg |= (dur << _L_HYST_DUR_LOW_DUR_SHIFT);
|
||||
|
||||
return writeReg(REG_L_HYST_DUR, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setHighGHysteresis(uint8_t hyst)
|
||||
{
|
||||
uint8_t reg = readReg(REG_H_HYST_DUR);
|
||||
|
||||
hyst &= _H_HYST_DUR_HIGH_HY_MASK;
|
||||
|
||||
reg &= ~(_H_HYST_DUR_HIGH_HY_MASK << _H_HYST_DUR_HIGH_HY_SHIFT);
|
||||
|
||||
reg |= (hyst << _H_HYST_DUR_HIGH_HY_SHIFT);
|
||||
|
||||
return writeReg(REG_H_HYST_DUR, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setHighGDuration(uint8_t dur)
|
||||
{
|
||||
uint8_t reg = readReg(REG_H_HYST_DUR);
|
||||
|
||||
dur &= _H_HYST_DUR_HIGH_DUR_MASK;
|
||||
|
||||
reg &= ~(_H_HYST_DUR_HIGH_DUR_MASK << _H_HYST_DUR_HIGH_DUR_SHIFT);
|
||||
|
||||
reg |= (dur << _H_HYST_DUR_HIGH_DUR_SHIFT);
|
||||
|
||||
return writeReg(REG_H_HYST_DUR, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setTapDuration(uint8_t dur)
|
||||
{
|
||||
uint8_t reg = readReg(REG_TAP_CONFIG);
|
||||
|
||||
dur &= _TAP_CONFIG_DUR_MASK;
|
||||
|
||||
reg &= ~(_TAP_CONFIG_DUR_MASK << _TAP_CONFIG_DUR_SHIFT);
|
||||
|
||||
reg |= (dur << _TAP_CONFIG_DUR_SHIFT);
|
||||
|
||||
return writeReg(REG_TAP_CONFIG, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setTapThreshold(uint8_t thresh)
|
||||
{
|
||||
uint8_t reg = readReg(REG_TAP_CONFIG);
|
||||
|
||||
thresh &= _TAP_CONFIG_THRESH_MASK;
|
||||
|
||||
reg &= ~(_TAP_CONFIG_THRESH_MASK << _TAP_CONFIG_THRESH_SHIFT);
|
||||
|
||||
reg |= (thresh << _TAP_CONFIG_THRESH_SHIFT);
|
||||
|
||||
return writeReg(REG_TAP_CONFIG, reg);
|
||||
}
|
||||
|
||||
bool BMA220::enableTapFilter(bool filt)
|
||||
{
|
||||
uint8_t reg = readReg(REG_TAP_CONFIG);
|
||||
|
||||
if (filt)
|
||||
reg |= TAP_CONFIG_FILTER;
|
||||
else
|
||||
reg &= ~TAP_CONFIG_FILTER;
|
||||
|
||||
return writeReg(REG_TAP_CONFIG, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setSlopeDuration(uint8_t dur)
|
||||
{
|
||||
uint8_t reg = readReg(REG_SLOPE_CONFIG);
|
||||
|
||||
dur &= _SLOPE_CONFIG_DUR_MASK;
|
||||
|
||||
reg &= ~(_SLOPE_CONFIG_DUR_MASK << _SLOPE_CONFIG_DUR_SHIFT);
|
||||
|
||||
reg |= (dur << _SLOPE_CONFIG_DUR_SHIFT);
|
||||
|
||||
return writeReg(REG_SLOPE_CONFIG, reg);
|
||||
}
|
||||
|
||||
bool BMA220::setSlopeThreshold(uint8_t thresh)
|
||||
{
|
||||
uint8_t reg = readReg(REG_SLOPE_CONFIG);
|
||||
|
||||
thresh &= _SLOPE_CONFIG_THRESH_MASK;
|
||||
|
||||
reg &= ~(_SLOPE_CONFIG_THRESH_MASK << _SLOPE_CONFIG_THRESH_SHIFT);
|
||||
|
||||
reg |= (thresh << _SLOPE_CONFIG_THRESH_SHIFT);
|
||||
|
||||
return writeReg(REG_SLOPE_CONFIG, reg);
|
||||
}
|
||||
|
||||
bool BMA220::enableSlopeFilter(bool filt)
|
||||
{
|
||||
uint8_t reg = readReg(REG_SLOPE_CONFIG);
|
||||
|
||||
if (filt)
|
||||
reg |= SLOPE_CONFIG_FILTER;
|
||||
else
|
||||
reg &= ~SLOPE_CONFIG_FILTER;
|
||||
|
||||
return writeReg(REG_SLOPE_CONFIG, reg);
|
||||
}
|
||||
|
||||
uint8_t BMA220::getInterruptStatus1()
|
||||
{
|
||||
return (readReg(REG_INT_STATUS1) & 0x8f);
|
||||
}
|
||||
|
||||
BMA220::CONFIG_ORIENT_T BMA220::getOrient()
|
||||
{
|
||||
uint8_t reg = readReg(REG_INT_STATUS2);
|
||||
|
||||
reg &= (_INT_STATUS1_ORIENT_MASK << _INT_STATUS1_ORIENT_SHIFT);
|
||||
|
||||
reg >>= _INT_STATUS1_ORIENT_SHIFT;
|
||||
|
||||
return (CONFIG_ORIENT_T)reg;
|
||||
}
|
||||
|
||||
uint8_t BMA220::getInterruptStatus2()
|
||||
{
|
||||
return (readReg(REG_INT_STATUS2) & 0x1f);
|
||||
}
|
||||
|
||||
bool BMA220::setInterruptEnables1(uint8_t bits)
|
||||
{
|
||||
return writeReg(REG_ENABLE_CONFIG, bits);
|
||||
}
|
||||
|
||||
uint8_t BMA220::getInterruptEnables1()
|
||||
{
|
||||
return readReg(REG_ENABLE_CONFIG);
|
||||
}
|
||||
|
||||
bool BMA220::setInterruptEnables2(uint8_t bits)
|
||||
{
|
||||
uint8_t reg = readReg(REG_ENABLE_CONFIG2);
|
||||
|
||||
// only the first 4 bits...
|
||||
bits &= 0x0f;
|
||||
reg &= 0x0f;
|
||||
|
||||
reg |= bits;
|
||||
|
||||
return writeReg(REG_ENABLE_CONFIG2, reg);
|
||||
}
|
||||
|
||||
uint8_t BMA220::getInterruptEnables2()
|
||||
{
|
||||
return (readReg(REG_ENABLE_CONFIG2) & 0x0f);
|
||||
}
|
||||
|
||||
bool BMA220::setInterruptLatch(CONFIG2_LAT_T lat)
|
||||
{
|
||||
uint8_t reg = readReg(REG_ENABLE_CONFIG2);
|
||||
|
||||
reg &= ~(_ENABLE_CONFIG2_LAT_INT_MASK << _ENABLE_CONFIG2_LAT_INT_SHIFT);
|
||||
|
||||
reg |= (lat << _ENABLE_CONFIG2_LAT_INT_SHIFT);
|
||||
|
||||
return writeReg(REG_ENABLE_CONFIG2, reg);
|
||||
}
|
||||
|
||||
bool BMA220::resetInterrupts()
|
||||
{
|
||||
// This resets the interrupt controller, and should be called
|
||||
// whenever the interrupt configuration changes
|
||||
uint8_t reg = readReg(REG_ENABLE_CONFIG2);
|
||||
|
||||
reg |= ENABLE_CONFIG2_RESET_INT;
|
||||
|
||||
return writeReg(REG_ENABLE_CONFIG2, reg);
|
||||
}
|
||||
|
||||
#ifdef SWIGJAVA
|
||||
void BMA220::installISR(int gpio, mraa::Edge level,
|
||||
IsrCallback *cb)
|
||||
{
|
||||
installISR(gpio, level, generic_callback_isr, cb);
|
||||
}
|
||||
#endif
|
||||
|
||||
void BMA220::installISR(int gpio, mraa::Edge level,
|
||||
void (*isr)(void *), void *arg)
|
||||
{
|
||||
// delete any existing ISR and GPIO context
|
||||
uninstallISR();
|
||||
|
||||
// create gpio context
|
||||
m_gpioIntr = new mraa::Gpio(gpio);
|
||||
|
||||
m_gpioIntr->dir(mraa::DIR_IN);
|
||||
m_gpioIntr->isr(level, isr, arg);
|
||||
}
|
||||
|
||||
void BMA220::uninstallISR()
|
||||
{
|
||||
if (m_gpioIntr)
|
||||
{
|
||||
m_gpioIntr->isrExit();
|
||||
delete m_gpioIntr;
|
||||
|
||||
m_gpioIntr = 0;
|
||||
}
|
||||
}
|
||||
|
||||
834
src/bma220/bma220.h
Normal file
834
src/bma220/bma220.h
Normal file
@ -0,0 +1,834 @@
|
||||
/*
|
||||
* 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/common.hpp>
|
||||
#include <mraa/i2c.hpp>
|
||||
#include <mraa/gpio.hpp>
|
||||
|
||||
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
|
||||
#include "../IsrCallback.h"
|
||||
#endif
|
||||
|
||||
#define BMA220_I2C_BUS 0
|
||||
#define BMA220_DEFAULT_ADDR 0x0a
|
||||
|
||||
namespace upm {
|
||||
|
||||
/**
|
||||
* @brief BMA220 Accelerometer library
|
||||
* @defgroup bma220 libupm-bma220
|
||||
* @ingroup i2c gpio accelerometer
|
||||
*/
|
||||
|
||||
/**
|
||||
* @library bma220
|
||||
* @sensor bma220
|
||||
* @comname BMA220 3-axis Accelerometer
|
||||
* @type accelerometer
|
||||
* @man dfrobot
|
||||
* @con i2c gpio
|
||||
* @web http://www.dfrobot.com/index.php?route=product/product&product_id=1085
|
||||
*
|
||||
* @brief API for the BMA220 3-axis Accelerometer
|
||||
*
|
||||
* The BMA220 is a low cost, very small 3-axis accelerometer with 6
|
||||
* bits of resolution. It can also detect orientation and tap events.
|
||||
*
|
||||
* The BMA220 has a linear acceleration full scale of
|
||||
* 2g/4g/8g/16g.
|
||||
*
|
||||
* While not all of the functionality of this device is supported
|
||||
* initially, methods and register definitions are provided that
|
||||
* should allow an end user to implement whatever features are
|
||||
* required.
|
||||
*
|
||||
* This driver was developed on a DFRobot BMA (Tiny).
|
||||
*
|
||||
* @snippet bma220.cxx Interesting
|
||||
*/
|
||||
|
||||
class BMA220 {
|
||||
public:
|
||||
|
||||
// NOTE: reserved registers must not be written into or read from.
|
||||
// Reserved bitfields must always be 0. The registers aren't
|
||||
// named in the datasheet, so I made up some hopefully useful
|
||||
// names for them. The whole I2C register map design is a little
|
||||
// strange, IMO.
|
||||
|
||||
/**
|
||||
* BMA220 Accelerometer registers
|
||||
*/
|
||||
typedef enum {
|
||||
REG_CHIPID = 0x00,
|
||||
REG_REVISIONID = 0x02,
|
||||
|
||||
// 2 lsb bits of ACC regs are always 0, yeilding 6 bits resolution
|
||||
REG_ACC_X = 0x04, // acceleration data
|
||||
REG_ACC_Y = 0x06,
|
||||
REG_ACC_Z = 0x08,
|
||||
|
||||
REG_H_HYST_DUR = 0x0a, // high hysteresis/dur
|
||||
REG_THRESHOLD = 0x0c, // high/low threshold
|
||||
REG_L_HYST_DUR = 0x0e, // low hysteresis/dur
|
||||
|
||||
REG_TAP_CONFIG = 0x10,
|
||||
|
||||
REG_SLOPE_CONFIG = 0x12,
|
||||
REG_TAP_CONFIG2 = 0x14,
|
||||
|
||||
REG_INT_STATUS1 = 0x16,
|
||||
REG_INT_STATUS2 = 0x18,
|
||||
|
||||
REG_ENABLE_CONFIG = 0x1a,
|
||||
REG_ENABLE_CONFIG2 = 0x1c,
|
||||
REG_ENABLE_CONFIG3 = 0x1e,
|
||||
|
||||
REG_FILTER_CONFIG = 0x20,
|
||||
|
||||
REG_SBIST_FSL_CONFIG = 0x22, // self test and full scale range
|
||||
|
||||
// 0x24 - 0x2c reserved
|
||||
|
||||
REG_I2C_WATCHDOG = 0x2e, // + SPI 3-wire mode
|
||||
|
||||
REG_SUSPEND = 0x30,
|
||||
REG_SOFTRESET = 0x32
|
||||
} REG_T;
|
||||
|
||||
|
||||
/**
|
||||
* REG_H_HYST_DUR bits
|
||||
*/
|
||||
typedef enum {
|
||||
H_HYST_DUR_HIGH_DUR0 = 0x01,
|
||||
H_HYST_DUR_HIGH_DUR1 = 0x02,
|
||||
H_HYST_DUR_HIGH_DUR2 = 0x04,
|
||||
H_HYST_DUR_HIGH_DUR3 = 0x08,
|
||||
H_HYST_DUR_HIGH_DUR4 = 0x10,
|
||||
H_HYST_DUR_HIGH_DUR5 = 0x20,
|
||||
_H_HYST_DUR_HIGH_DUR_MASK = 63,
|
||||
_H_HYST_DUR_HIGH_DUR_SHIFT = 0,
|
||||
|
||||
H_HYST_DUR_HIGH_HY1 = 0x40,
|
||||
H_HYST_DUR_HIGH_HY2 = 0x80,
|
||||
_H_HYST_DUR_HIGH_HY_MASK = 3,
|
||||
_H_HYST_DUR_HIGH_HY_SHIFT = 6
|
||||
} H_HYST_DUR_HIGH_BITS_T;
|
||||
|
||||
/**
|
||||
* REG_THRESHOLD bits
|
||||
*/
|
||||
typedef enum {
|
||||
THRESHOLD_HIGH0 = 0x01,
|
||||
THRESHOLD_HIGH1 = 0x02,
|
||||
THRESHOLD_HIGH2 = 0x04,
|
||||
THRESHOLD_HIGH3 = 0x08,
|
||||
_THRESHOLD_HIGH_MASK = 15,
|
||||
_THRESHOLD_HIGH_SHIFT = 0,
|
||||
|
||||
THRESHOLD_LOW0 = 0x10,
|
||||
THRESHOLD_LOW1 = 0x20,
|
||||
THRESHOLD_LOW2 = 0x40,
|
||||
THRESHOLD_LOW3 = 0x80,
|
||||
_THRESHOLD_LOW_MASK = 15,
|
||||
_THRESHOLD_LOW_SHIFT = 4
|
||||
} THRESHOLD_BITS_T;
|
||||
|
||||
/**
|
||||
* REG_L_HYST_DUR bits
|
||||
*/
|
||||
typedef enum {
|
||||
L_HYST_DUR_LOW_DUR0 = 0x01,
|
||||
L_HYST_DUR_LOW_DUR1 = 0x02,
|
||||
L_HYST_DUR_LOW_DUR2 = 0x04,
|
||||
L_HYST_DUR_LOW_DUR3 = 0x08,
|
||||
L_HYST_DUR_LOW_DUR4 = 0x10,
|
||||
L_HYST_DUR_LOW_DUR5 = 0x20,
|
||||
_L_HYST_DUR_LOW_DUR_MASK = 63,
|
||||
_L_HYST_DUR_LOW_DUR_SHIFT = 0,
|
||||
|
||||
L_HYST_DUR_LOW_HY1 = 0x40,
|
||||
L_HYST_DUR_LOW_HY2 = 0x80,
|
||||
_L_HYST_DUR_LOW_HY_MASK = 3,
|
||||
_L_HYST_DUR_LOW_HY_SHIFT = 6
|
||||
} L_HYST_DUR_LOW_BITS_T;
|
||||
|
||||
/**
|
||||
* REG_TAP_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
TAP_CONFIG_DUR0 = 0x01,
|
||||
TAP_CONFIG_DUR1 = 0x02,
|
||||
TAP_CONFIG_DUR2 = 0x04,
|
||||
_TAP_CONFIG_DUR_MASK = 7,
|
||||
_TAP_CONFIG_DUR_SHIFT = 0,
|
||||
|
||||
TAP_CONFIG_THRESH0 = 0x08,
|
||||
TAP_CONFIG_THRESH1 = 0x10,
|
||||
TAP_CONFIG_THRESH2 = 0x20,
|
||||
TAP_CONFIG_THRESH3 = 0x40,
|
||||
_TAP_CONFIG_THRESH_MASK = 15,
|
||||
_TAP_CONFIG_THRESH_SHIFT = 3,
|
||||
|
||||
TAP_CONFIG_FILTER = 0x80
|
||||
} TAP_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* REG_SLOPE_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
SLOPE_CONFIG_DUR0 = 0x01,
|
||||
SLOPE_CONFIG_DUR1 = 0x02,
|
||||
_SLOPE_CONFIG_DUR_MASK = 3,
|
||||
_SLOPE_CONFIG_DUR_SHIFT = 0,
|
||||
|
||||
SLOPE_CONFIG_THRESH0 = 0x04,
|
||||
SLOPE_CONFIG_THRESH1 = 0x08,
|
||||
SLOPE_CONFIG_THRESH2 = 0x10,
|
||||
SLOPE_CONFIG_THRESH3 = 0x20,
|
||||
_SLOPE_CONFIG_THRESH_MASK = 15,
|
||||
_SLOPE_CONFIG_THRESH_SHIFT = 2,
|
||||
|
||||
SLOPE_CONFIG_FILTER = 0x40,
|
||||
SLOPE_CONFIG_ORIENT_EX = 0x80 // exchange x and z axis for orient
|
||||
} SLOPE_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* REG_TAP_CONFIG2 bits
|
||||
*/
|
||||
typedef enum {
|
||||
TAP_CONFIG2_SAMP0 = 0x01,
|
||||
TAP_CONFIG2_SAMP1 = 0x02,
|
||||
_TAP_CONFIG2_SAMP_MASK = 3,
|
||||
_TAP_CONFIG2_SAMP_SHIFT = 0,
|
||||
|
||||
TAP_CONFIG2_ORIENT_BLOCK0 = 0x04,
|
||||
TAP_CONFIG2_ORIENT_BLOCK1 = 0x08,
|
||||
_TAP_CONFIG2_ORIENT_BLOCK_MASK = 3,
|
||||
_TAP_CONFIG2_ORIENT_BLOCK_SHIFT = 2,
|
||||
|
||||
TAP_CONFIG2_TIP_EN = 0x10
|
||||
|
||||
// 0x20-0x80 reserved
|
||||
} TAP_CONFIG2_BITS_T;
|
||||
|
||||
/**
|
||||
* TAP_CONFIG2_SAMP values
|
||||
*/
|
||||
typedef enum {
|
||||
TAP_SAMP_2 = 0, // 2 data samples after wakeup
|
||||
TAP_SAMP_4 = 1,
|
||||
TAP_SAMP_8 = 2,
|
||||
TAP_SAMP_16 = 3
|
||||
} TAP_SAMP_T;
|
||||
|
||||
/**
|
||||
* TAP_CONFIG2_ORIENT_BLOCK values
|
||||
*
|
||||
*/
|
||||
typedef enum {
|
||||
TAP_ORIENT_BLOCK_0 = 0, // orient blocking disabled
|
||||
TAP_ORIENT_BLOCK_2 = 1, // |z|>0.9g OR |x|+|y| < 0.2g OR m<0.2g
|
||||
TAP_ORIENT_BLOCK_3 = 2, // |z|>0.9g OR |x|+|y| < 0.3g OR m<0.3g
|
||||
TAP_ORIENT_BLOCK_4 = 3, // |z|>0.9g OR |x|+|y| < 0.4g OR m<0.4g
|
||||
} TAP_ORIENT_BLOCK_T;
|
||||
|
||||
/**
|
||||
* REG_INT_STATUS1 bits
|
||||
*/
|
||||
typedef enum {
|
||||
INT_STATUS1_SIGN = 0x01,
|
||||
INT_STATUS1_FIRST_Z = 0x02,
|
||||
INT_STATUS1_FIRST_Y = 0x04,
|
||||
INT_STATUS1_FIRST_X = 0x08,
|
||||
|
||||
INT_STATUS1_ORIENT0 = 0x10,
|
||||
INT_STATUS1_ORIENT1 = 0x20,
|
||||
INT_STATUS1_ORIENT2 = 0x40,
|
||||
_INT_STATUS1_ORIENT_MASK = 7,
|
||||
_INT_STATUS1_ORIENT_SHIFT = 4,
|
||||
|
||||
INT_STATUS1_ORIENT_INT = 0x80 // orient intr was generated
|
||||
} INT_STATUS1_BITS_T;
|
||||
|
||||
/**
|
||||
* INT_STATUS1_ORIENT values
|
||||
*
|
||||
* These are values reported by the device if orientation
|
||||
* detection is enabled.
|
||||
*/
|
||||
typedef enum {
|
||||
CONFIG_ORI_UP_PORT_UPRIGHT = 0, // up portrait
|
||||
CONFIG_ORI_UP_PORT_UPSIDE_DOWN = 1,
|
||||
CONFIG_ORI_UP_LAND_LEFT = 2, // landscape
|
||||
CONFIG_ORI_UP_LAND_RIGHT = 3,
|
||||
CONFIG_ORI_DN_PORT_UPRIGHT = 4, // down portrait
|
||||
CONFIG_ORI_DN_PORT_UPSIDE_DOWN = 5,
|
||||
CONFIG_ORI_DN_LAND_LEFT = 6, // landscape
|
||||
CONFIG_ORI_DN_LAND_RIGHT = 7
|
||||
} CONFIG_ORIENT_T;
|
||||
|
||||
/**
|
||||
* REG_INT_STATUS2 bits
|
||||
*/
|
||||
typedef enum {
|
||||
INT_STATUS2_SLOPE = 0x01,
|
||||
INT_STATUS2_DATA = 0x02,
|
||||
INT_STATUS2_HIGH = 0x04,
|
||||
INT_STATUS2_LOW = 0x08,
|
||||
INT_STATUS2_TAP = 0x10
|
||||
|
||||
// 0x20-0x80 reserved
|
||||
} INT_STATUS2_BITS_T;
|
||||
|
||||
/**
|
||||
* REG_ENABLE_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
ENABLE_CONFIG_TT_Z = 0x01,
|
||||
ENABLE_CONFIG_TT_Y = 0x02,
|
||||
ENABLE_CONFIG_TT_X = 0x04,
|
||||
ENABLE_CONFIG_SLOPE_Z = 0x08,
|
||||
ENABLE_CONFIG_SLOPE_Y = 0x10,
|
||||
ENABLE_CONFIG_SLOPE_X = 0x20,
|
||||
ENABLE_CONFIG_ORIENT = 0x40,
|
||||
ENABLE_CONFIG_DATA = 0x80
|
||||
} ENABLE_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* REG_ENABLE_CONFIG2 bits
|
||||
*/
|
||||
typedef enum {
|
||||
ENABLE_CONFIG2_HIGH_Z = 0x01,
|
||||
ENABLE_CONFIG2_HIGH_Y = 0x02,
|
||||
ENABLE_CONFIG2_HIGH_X = 0x04,
|
||||
|
||||
ENABLE_CONFIG2_LOW = 0x08,
|
||||
|
||||
ENABLE_CONFIG2_LAT_INT0 = 0x10, // interrupt latching
|
||||
ENABLE_CONFIG2_LAT_INT1 = 0x20,
|
||||
ENABLE_CONFIG2_LAT_INT2 = 0x40,
|
||||
_ENABLE_CONFIG2_LAT_INT_MASK = 7,
|
||||
_ENABLE_CONFIG2_LAT_INT_SHIFT = 4,
|
||||
|
||||
ENABLE_CONFIG2_RESET_INT = 0x80 // reset interrupts
|
||||
} ENABLE_CONFIG2_BITS_T;
|
||||
|
||||
/**
|
||||
* ENABLE_CONFIG2_LAT values
|
||||
*
|
||||
* These are values that define the interrupt latching behavior
|
||||
*/
|
||||
typedef enum {
|
||||
CONFIG2_LAT_UNLATCH = 0, // unlatched intrs
|
||||
CONFIG2_LAT_0_25 = 1, // latch intr for 0.25s
|
||||
CONFIG2_LAT_0_5 = 2, // latch intr for 0.5s
|
||||
CONFIG2_LAT_1 = 3, // latch intr for 1s
|
||||
CONFIG2_LAT_2 = 4, // latch intr for 2s
|
||||
CONFIG2_LAT_4 = 5, // latch intr for 4s
|
||||
CONFIG2_LAT_8 = 6, // latch intr for 8s
|
||||
CONFIG2_LAT_PERM = 7 // latch permanently
|
||||
} CONFIG2_LAT_T;
|
||||
|
||||
/**
|
||||
* REG_ENABLE_CONFIG3 bits
|
||||
*/
|
||||
typedef enum {
|
||||
ENABLE_CONFIG3_Z_CHAN = 0x01,
|
||||
ENABLE_CONFIG3_Y_CHAN = 0x02,
|
||||
ENABLE_CONFIG3_X_CHAN = 0x04,
|
||||
|
||||
ENABLE_CONFIG3_SLEEP_DUR0 = 0x08,
|
||||
ENABLE_CONFIG3_SLEEP_DUR1 = 0x10,
|
||||
ENABLE_CONFIG3_SLEEP_DUR2 = 0x20,
|
||||
_ENABLE_CONFIG3_SLEEP_DUR_MASK = 7,
|
||||
_ENABLE_CONFIG3_SLEEP_DUR_SHIFT = 3,
|
||||
|
||||
ENABLE_CONFIG3_SLEEP_EN = 0x40
|
||||
|
||||
// 0x80 reserved
|
||||
} ENABLE_CONFIG3_BITS_T;
|
||||
|
||||
/**
|
||||
* ENABLE_CONFIG3_SLEEP_DUR values
|
||||
*
|
||||
* These are values that define the length of time the device
|
||||
* sleeps before sampling when in sleep mode.
|
||||
*/
|
||||
typedef enum {
|
||||
SLEEP_DUR_2MS = 0, // 2 ms
|
||||
SLEEP_DUR_10MS = 1,
|
||||
SLEEP_DUR_25MS = 2,
|
||||
SLEEP_DUR_50MS = 3,
|
||||
SLEEP_DUR_100MS = 4,
|
||||
SLEEP_DUR_500MS = 5,
|
||||
SLEEP_DUR_1S = 6, // 1 second
|
||||
SLEEP_DUR_2S = 7
|
||||
} SLEEP_DUR_T;
|
||||
|
||||
/**
|
||||
* REG_FILTER_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
FILTER_CONFIG_FILTER0 = 0x01,
|
||||
FILTER_CONFIG_FILTER1 = 0x02,
|
||||
FILTER_CONFIG_FILTER2 = 0x04,
|
||||
FILTER_CONFIG_FILTER3 = 0x08,
|
||||
_FILTER_CONFIG_FILTER_MASK = 15,
|
||||
_FILTER_CONFIG_FILTER_SHIFT = 0,
|
||||
|
||||
// 0x10-0x40 reserved
|
||||
|
||||
FILTER_CONFIG_SERIAL_HIGH_BW = 0x80
|
||||
} FILTER_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* FILTER_CONFIG_FILTER values
|
||||
*
|
||||
* These are values that define the digital filtering frequency
|
||||
*/
|
||||
typedef enum {
|
||||
FILTER_CONFIG_1KHZ = 0, // 1Khz
|
||||
FILTER_CONFIG_500HZ = 1,
|
||||
FILTER_CONFIG_250HZ = 2,
|
||||
FILTER_CONFIG_125HZ = 3,
|
||||
FILTER_CONFIG_64HZ = 4,
|
||||
FILTER_CONFIG_32HZ = 5
|
||||
} FILTER_CONFIG_T;
|
||||
|
||||
/**
|
||||
* REG_SBIST_FSL_CONFIG bits
|
||||
*/
|
||||
typedef enum {
|
||||
REG_SBIST_FSL_RANGE0 = 0x01, // full scale range
|
||||
REG_SBIST_FSL_RANGE1 = 0x02,
|
||||
_REG_SBIST_FSL_RANGE_MASK = 3,
|
||||
_REG_SBIST_FSL_RANGE_SHIFT = 0,
|
||||
|
||||
REG_SBIST_FSL_SBIST0 = 0x04, // self test enables
|
||||
REG_SBIST_FSL_SBIST1 = 0x08,
|
||||
_REG_SBIST_FSL_SBIST_MASK = 3,
|
||||
_REG_SBIST_FSL_SBIST_SHIFT = 2,
|
||||
|
||||
REG_SBIST_FSL_SBIST_SIGN = 0x10 // signedness of self test
|
||||
|
||||
// 0x20-0x80 reserved
|
||||
} SBIST_FSL_CONFIG_BITS_T;
|
||||
|
||||
/**
|
||||
* REG_SBIST_FSL_RANGE values
|
||||
*
|
||||
* These are values that define the Full Scale configuration
|
||||
*/
|
||||
typedef enum {
|
||||
FSL_RANGE_2G = 0, // 2G FSL
|
||||
FSL_RANGE_4G = 1,
|
||||
FSL_RANGE_8G = 2,
|
||||
FSL_RANGE_16G = 3
|
||||
} FSL_RANGE_T;
|
||||
|
||||
/**
|
||||
* REG_SBIST_FSL_SBIST values
|
||||
*
|
||||
* These are values that enable self test mode
|
||||
*/
|
||||
typedef enum {
|
||||
SBIST_OFF = 0, // self test off
|
||||
SBIST_X = 1, // self test X
|
||||
SBIST_Y = 2,
|
||||
SBIST_Z = 3
|
||||
} SBIST_T;
|
||||
|
||||
/**
|
||||
* REG_I2C_WATCHDOG bits
|
||||
*/
|
||||
typedef enum {
|
||||
I2C_WATCHDOG_SPI3 = 0x01, // SPI 3wire mode (SPI not supported)
|
||||
|
||||
I2C_WATCHDOG_TO_SEL = 0x02,
|
||||
I2C_WATCHDOG_TO_EN = 0x04
|
||||
|
||||
// 0x08-0x80 reserved
|
||||
} I2C_WATCHDOG_BITS_T;
|
||||
|
||||
|
||||
/**
|
||||
* BMA220 constructor
|
||||
*
|
||||
* @param bus i2c bus to use
|
||||
* @param address the address for this device
|
||||
*/
|
||||
BMA220(int bus=BMA220_I2C_BUS, uint8_t addr=BMA220_DEFAULT_ADDR);
|
||||
|
||||
/**
|
||||
* BMA220 Destructor
|
||||
*/
|
||||
~BMA220();
|
||||
|
||||
/**
|
||||
* update the accelerometer values
|
||||
*/
|
||||
void update();
|
||||
|
||||
/**
|
||||
* read a register
|
||||
*
|
||||
* @param dev the device to access (XM or G)
|
||||
* @param reg the register to read
|
||||
* @return the value of the register
|
||||
*/
|
||||
uint8_t readReg(uint8_t reg);
|
||||
|
||||
/**
|
||||
* write to a register
|
||||
*
|
||||
* @param dev the device to access (XM or G)
|
||||
* @param reg the register to write to
|
||||
* @param val the value to write
|
||||
* @return true if successful, false otherwise
|
||||
*/
|
||||
bool writeReg(uint8_t reg, uint8_t val);
|
||||
|
||||
/**
|
||||
* return the chip ID
|
||||
*
|
||||
* @return the chip ID (usually 0xdd)
|
||||
*/
|
||||
uint8_t getChipID();
|
||||
|
||||
/**
|
||||
* return the chip revision
|
||||
*
|
||||
* @return the chip revision (usually 0x00)
|
||||
*/
|
||||
uint8_t getChipRevision();
|
||||
|
||||
/**
|
||||
* set the scaling mode of the accelerometer (2g/4g/8g/16g)
|
||||
*
|
||||
* @param scale one of the FSL_RANGE_T values
|
||||
* @return true if successful, false otherwise
|
||||
*/
|
||||
bool setAccelerometerScale(FSL_RANGE_T scale);
|
||||
|
||||
/**
|
||||
* get the accelerometer values in gravities
|
||||
*
|
||||
* @param x the returned x value, if arg is non-NULL
|
||||
* @param y the returned y value, if arg is non-NULL
|
||||
* @param z the returned z value, if arg is non-NULL
|
||||
*/
|
||||
void getAccelerometer(float *x, float *y, float *z);
|
||||
|
||||
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
|
||||
/**
|
||||
* get the accelerometer values in gravities
|
||||
*
|
||||
* @return Array containing X, Y, Z acceleration values
|
||||
*/
|
||||
float *getAccelerometer();
|
||||
#endif
|
||||
|
||||
/**
|
||||
* set the filtering configuration
|
||||
*
|
||||
* @param filter one of the FILTER_CONFIG_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setFilterConfig(FILTER_CONFIG_T filter);
|
||||
|
||||
/**
|
||||
* enable or disable high bandwidth serial access (1Khz). This
|
||||
* essentially disables filtering and makes the raw unfiltered
|
||||
* data available in the axis registers.
|
||||
*
|
||||
* @param high true to enable high bw access, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setSerialHighBW(bool high);
|
||||
|
||||
/**
|
||||
* enable or disable axis channels
|
||||
*
|
||||
* @param xEn true to enable the axis, false otherwise
|
||||
* @param yEn true to enable the axis, false otherwise
|
||||
* @param zEn true to enable the axis, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableAxes(bool xEn, bool yEn, bool zEn);
|
||||
|
||||
/**
|
||||
* place the device into, or take the device out of suspend mode
|
||||
*
|
||||
* @return 0x00 if the device was in active mode, 0xff if the
|
||||
* device was in suspend mode
|
||||
*/
|
||||
uint8_t suspend();
|
||||
|
||||
/**
|
||||
* place the device into, or take the device out of soft reset mode
|
||||
*
|
||||
* @return 0x00 if the device was in active mode, 0xff if the
|
||||
* device was in soft reset mode
|
||||
*/
|
||||
uint8_t softReset();
|
||||
|
||||
/**
|
||||
* place the device into, or take the device out of low power
|
||||
* mode. See the datasheet for information on how low power mode
|
||||
* is implemented on this device.
|
||||
*
|
||||
* @param enable true to set low power mode, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool sleep(bool enable);
|
||||
|
||||
/**
|
||||
* when in low power (sleep) mode, specify how often the device
|
||||
* wakes up to acquire samples.
|
||||
*
|
||||
* @param dur one of the SLEEP_DUR_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setSleepDuration(SLEEP_DUR_T dur);
|
||||
|
||||
/**
|
||||
* specify the threshold for low G detection
|
||||
*
|
||||
* @param thresh see the datasheet
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setLowGThreshold(uint8_t thresh);
|
||||
|
||||
/**
|
||||
* specify the threshold for high G detection
|
||||
*
|
||||
* @param thresh see the datasheet
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setHighGThreshold(uint8_t thresh);
|
||||
|
||||
/**
|
||||
* specify the hysteresis for low G detection
|
||||
*
|
||||
* @param hyst 2 bit hysteresis value
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setLowGHysteresis(uint8_t hyst);
|
||||
|
||||
/**
|
||||
* specify the sample duration for low G detection
|
||||
*
|
||||
* @param dur the number of samples (depends on bandwidth)
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setLowGDuration(uint8_t dur);
|
||||
|
||||
/**
|
||||
* specify the hysteresis for high G detection
|
||||
*
|
||||
* @param hyst 2 bit hysteresis value
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setHighGHysteresis(uint8_t hyst);
|
||||
|
||||
/**
|
||||
* specify the sample duration for high G detection
|
||||
*
|
||||
* @param dur the number of samples (depends on bandwidth)
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setHighGDuration(uint8_t dur);
|
||||
|
||||
/**
|
||||
* specify the sample duration for tap detection
|
||||
*
|
||||
* @param dur the number of samples (depends on bandwidth)
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setTapDuration(uint8_t dur);
|
||||
|
||||
/**
|
||||
* specify the threshold for tap detection
|
||||
*
|
||||
* @param thresh see the datasheet
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setTapThreshold(uint8_t thresh);
|
||||
|
||||
/**
|
||||
* unable to disable tap filtering
|
||||
*
|
||||
* @param filt true to enable, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableTapFilter(bool filt);
|
||||
|
||||
/**
|
||||
* specify the sample duration for slope detection
|
||||
*
|
||||
* @param dur the number of samples (depends on bandwidth)
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setSlopeDuration(uint8_t dur);
|
||||
|
||||
/**
|
||||
* specify the threshold for slope detection
|
||||
*
|
||||
* @param thresh see the datasheet
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setSlopeThreshold(uint8_t thresh);
|
||||
|
||||
/**
|
||||
* enable or disable slope filtering
|
||||
*
|
||||
* @param filt true to enable filtering, false otherwise
|
||||
* @return true if successful
|
||||
*/
|
||||
bool enableSlopeFilter(bool filt);
|
||||
|
||||
/**
|
||||
* return a bitmask of the interrupt status 1 register
|
||||
*
|
||||
* @return bitmask of INT_STATUS1_BITS_T bits (minus the orient value)
|
||||
*/
|
||||
uint8_t getInterruptStatus1();
|
||||
|
||||
/**
|
||||
* return the orient value from the interrupt status 1 register
|
||||
*
|
||||
* @return one of the CONFIG_ORIENT_T values
|
||||
*/
|
||||
CONFIG_ORIENT_T getOrient();
|
||||
|
||||
/**
|
||||
* return a bitmask of the interrupt status 2 register
|
||||
*
|
||||
* @return bitmask of INT_STATUS2_BITS_T bits
|
||||
*/
|
||||
uint8_t getInterruptStatus2();
|
||||
|
||||
/**
|
||||
* enable interrupts for events in interrupt config register 1
|
||||
*
|
||||
* @param bits bitmask of ENABLE_CONFIG_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterruptEnables1(uint8_t bits);
|
||||
|
||||
/**
|
||||
* return the enabled interrupts for events in interrupt config register 1
|
||||
*
|
||||
* @return bitmask of ENABLE_CONFIG_BITS_T values
|
||||
*/
|
||||
uint8_t getInterruptEnables1();
|
||||
|
||||
/**
|
||||
* enable interrupts for events in interrupt config register 2
|
||||
*
|
||||
* @param bits bitmask of ENABLE_CONFIG2_BITS_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterruptEnables2(uint8_t bits);
|
||||
|
||||
/**
|
||||
* return the enabled interrupts for events in interrupt config register 2
|
||||
*
|
||||
* @return bitmask of ENABLE_CONFIG2_BITS_T values
|
||||
*/
|
||||
uint8_t getInterruptEnables2();
|
||||
|
||||
/**
|
||||
* configure interrupt latching behavior
|
||||
*
|
||||
* @param lat one of the CONFIG2_LAT_T values
|
||||
* @return true if successful
|
||||
*/
|
||||
bool setInterruptLatch(CONFIG2_LAT_T lat);
|
||||
|
||||
/**
|
||||
* reset the interrupt controller. This should be called after
|
||||
* any changes are made to interrupt configuration, or to reset
|
||||
* interrupts if latched interrupts have been enabled and an
|
||||
* interrupt has occurred..
|
||||
*
|
||||
* @return true if successful
|
||||
*/
|
||||
bool resetInterrupts();
|
||||
|
||||
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
|
||||
void installISR(int gpio, mraa::Edge level, IsrCallback *cb);
|
||||
#else
|
||||
/**
|
||||
* install an interrupt handler.
|
||||
*
|
||||
* @param gpio gpio pin to use as interrupt pin
|
||||
* @param level the interrupt trigger level (one of mraa::Edge
|
||||
* values). Make sure that you have configured the interrupt pin
|
||||
* properly for whatever level you choose.
|
||||
* @param isr the interrupt handler, accepting a void * argument
|
||||
* @param arg the argument to pass the the interrupt handler
|
||||
*/
|
||||
void installISR(int gpio, mraa::Edge level,
|
||||
void (*isr)(void *), void *arg);
|
||||
#endif
|
||||
|
||||
/**
|
||||
* uninstall a previously installed interrupt handler
|
||||
*
|
||||
*/
|
||||
void uninstallISR();
|
||||
|
||||
protected:
|
||||
mraa::I2c m_i2c;
|
||||
mraa::Gpio *m_gpioIntr;
|
||||
uint8_t m_addr;
|
||||
|
||||
// uncompensated accelerometer values
|
||||
float m_accelX;
|
||||
float m_accelY;
|
||||
float m_accelZ;
|
||||
|
||||
// accelerometer full scale
|
||||
float m_accelScale;
|
||||
|
||||
private:
|
||||
/**
|
||||
* update the accelerometer values
|
||||
*/
|
||||
void updateAccelerometer();
|
||||
// Adding a private function definition for java bindings
|
||||
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
|
||||
void installISR(int gpio, mraa::Edge level,
|
||||
void (*isr)(void *), void *arg);
|
||||
#endif
|
||||
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
36
src/bma220/javaupm_bma220.i
Normal file
36
src/bma220/javaupm_bma220.i
Normal file
@ -0,0 +1,36 @@
|
||||
%module(directors="1") javaupm_bma220
|
||||
%include "../upm.i"
|
||||
%include "cpointer.i"
|
||||
%include "typemaps.i"
|
||||
%include "arrays_java.i";
|
||||
%include "../java_buffer.i"
|
||||
|
||||
%feature("director") IsrCallback;
|
||||
|
||||
%ignore generic_callback_isr;
|
||||
%include "../IsrCallback.h"
|
||||
|
||||
%apply int {mraa::Edge};
|
||||
%apply float *INOUT { float *x, float *y, float *z };
|
||||
|
||||
%typemap(jni) float* "jfloatArray"
|
||||
%typemap(jstype) float* "float[]"
|
||||
%typemap(jtype) float* "float[]"
|
||||
|
||||
%typemap(javaout) float* {
|
||||
return $jnicall;
|
||||
}
|
||||
|
||||
%typemap(out) float *getAccelerometer {
|
||||
$result = JCALL1(NewFloatArray, jenv, 3);
|
||||
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
|
||||
delete [] $1;
|
||||
}
|
||||
|
||||
%ignore getAccelerometer(float *, float *, float *);
|
||||
|
||||
%{
|
||||
#include "bma220.h"
|
||||
%}
|
||||
|
||||
%include "bma220.h"
|
||||
11
src/bma220/jsupm_bma220.i
Normal file
11
src/bma220/jsupm_bma220.i
Normal file
@ -0,0 +1,11 @@
|
||||
%module jsupm_bma220
|
||||
%include "../upm.i"
|
||||
%include "cpointer.i"
|
||||
|
||||
%pointer_functions(float, floatp);
|
||||
|
||||
%include "bma220.h"
|
||||
%{
|
||||
#include "bma220.h"
|
||||
%}
|
||||
|
||||
15
src/bma220/pyupm_bma220.i
Normal file
15
src/bma220/pyupm_bma220.i
Normal file
@ -0,0 +1,15 @@
|
||||
%module pyupm_bma220
|
||||
%include "../upm.i"
|
||||
%include "cpointer.i"
|
||||
|
||||
%include "stdint.i"
|
||||
|
||||
%feature("autodoc", "3");
|
||||
|
||||
%pointer_functions(float, floatp);
|
||||
|
||||
%include "bma220.h"
|
||||
%{
|
||||
#include "bma220.h"
|
||||
%}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user