alexey.zholtikov/upm
1
0
Fork 0
mirror of https://github.com/eclipse/upm.git synced 2025-03-15 04:57:30 +03:00
Code Issues Actions Packages Projects Releases Wiki Activity
upm/src/bma220/bma220.hpp
Mihai Tudor Panu 4a1eb99d6d doxygen: updated library brief description tags 
Touched on all library brief descriptions for better integration with ISS and fixed a few typos and connection tags in the process.

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
2018-02-14 11:33:09 -08:00

825 lines
23 KiB
C++
Raw Permalink Blame History

/*
* 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 <vector>
#include <mraa/common.hpp>
#include <mraa/i2c.hpp>
#include <mraa/gpio.hpp>
#define BMA220_I2C_BUS 0
#define BMA220_DEFAULT_ADDR 0x0a
namespace upm {
/**
* @brief BMA220 Accelerometer
* @defgroup bma220 libupm-bma220
* @ingroup i2c gpio accelerometer bosch dfrobot
*/
/**
* @library bma220
* @sensor bma220
* @comname Digital Triaxial Acceleration Sensor
* @type accelerometer
* @man bosch 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).
*
* @image html bma220.jpg
* @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 addr 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 reg the register to read
* @return the value of the register
*/
uint8_t readReg(uint8_t reg);
/**
* write to a register
*
* @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);
/**
* get the accelerometer values in gravities
*
* @return std::vector containing X, Y, Z acceleration values
*/
std::vector<float> getAccelerometer();
/**
* 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();
/**
* 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);
/**
* uninstall a previously installed interrupt handler
*
*/
void uninstallISR();
mraa::Gpio* get_gpioIntr();
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:
/* Disable implicit copy and assignment operators */
BMA220(const BMA220&) = delete;
BMA220 &operator=(const BMA220&) = delete;
/**
* update the accelerometer values
*/
void updateAccelerometer();
};
}
Reference in New Issue View Git Blame Copy Permalink