mirror of
https://github.com/eclipse/upm.git
synced 2025-07-01 09:21:12 +03:00
4a1eb99d6d
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>
474 lines
18 KiB
C++
474 lines
18 KiB
C++
/*
|
|
* Author: Norbert Wesp <nwesp@phytec.de>
|
|
* Copyright (c) 2017 Phytec Messtechnik GmbH.
|
|
*
|
|
* based on: RIOT-driver mma8x5x by Johann Fischer <j.fischer@phytec.de>
|
|
*
|
|
* 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>
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
|
|
/* Supported devices by this driver */
|
|
#define MMA8X5X_DEVICE_ID_MMA8652 0x4a
|
|
#define MMA8X5X_DEVICE_ID_MMA8653 0x5a
|
|
#define MMA8X5X_DEVICE_ID_MMA8451 0x1a
|
|
#define MMA8X5X_DEVICE_ID_MMA8452 0x2a
|
|
#define MMA8X5X_DEVICE_ID_MMA8453 0x3a
|
|
|
|
#define MMA8X5X_NAME_MMA8652 "MMA8652"
|
|
#define MMA8X5X_NAME_MMA8653 "MMA8653"
|
|
#define MMA8X5X_NAME_MMA8451 "MMA8451"
|
|
#define MMA8X5X_NAME_MMA8452 "MMA8452"
|
|
#define MMA8X5X_NAME_MMA8453 "MMA8453"
|
|
|
|
/* MMA8x5x Fix settings of supported sensors */
|
|
#define MMA8X5X_I2C_ADDRESS 0x1D
|
|
#define MMA8X5X_DEVICE_ID_REG 0x0D
|
|
|
|
/* MMA8x5x Register Map */
|
|
#define MMA8X5X_STATUS 0x00 /* Data or FIFO Status */
|
|
#define MMA8X5X_OUT_X_MSB 0x01 /* [7:0] are 8 MSBs of X data */
|
|
#define MMA8X5X_OUT_X_LSB 0x02 /* [7:4] are 4 LSBs of X data */
|
|
#define MMA8X5X_OUT_Y_MSB 0x03 /* [7:0] are 8 MSBs of Y data */
|
|
#define MMA8X5X_OUT_Y_LSB 0x04 /* [7:4] are 4 LSBs of Y data */
|
|
#define MMA8X5X_OUT_Z_MSB 0x05 /* [7:0] are 8 MSBs of Z data */
|
|
#define MMA8X5X_OUT_Z_LSB 0x06 /* [7:4] are 8 LSBs of Z data */
|
|
#define MMA8X5X_F_SETUP 0x09 /* FIFO setup */
|
|
#define MMA8X5X_TRIG_CFG 0x0A /* Map of FIFO data capture events */
|
|
#define MMA8X5X_SYSMOD 0x0B /* Current System mode */
|
|
#define MMA8X5X_INT_SOURCE 0x0C /* Interrupt status */
|
|
#define MMA8X5X_XYZ_DATA_CFG 0x0E /* Dynamic Range Settings */
|
|
#define MMA8X5X_HP_FILTER_CUTOFF 0x0F /* High-Pass Filter Selection */
|
|
#define MMA8X5X_PL_STATUS 0x10 /* Landscape/Portrait
|
|
orientation status */
|
|
#define MMA8X5X_PL_CFG 0x11 /* Landscape/Portrait configuration */
|
|
#define MMA8X5X_PL_COUNT 0x12 /* Landscape/Portrait debounce counter */
|
|
#define MMA8X5X_PL_BF_ZCOMP 0x13 /* Back/Front, Z-Lock Trip threshold */
|
|
#define MMA8X5X_P_L_THS_REG 0x14 /* Portrait/Landscape
|
|
Threshold and Hysteresis */
|
|
#define MMA8X5X_FF_MT_CFG 0x15 /* Freefall/Motion
|
|
functional block configuration */
|
|
#define MMA8X5X_FF_MT_SRC 0x16 /* Freefall/Motion
|
|
event source register */
|
|
#define MMA8X5X_FF_MT_THS 0x17 /* Freefall/Motion threshold register */
|
|
#define MMA8X5X_FF_MT_COUNT 0x18 /* Freefall/Motion debounce counter */
|
|
#define MMA8X5X_TRANSIENT_CFG 0x1D /* Transient
|
|
functional block configuration */
|
|
#define MMA8X5X_TRANSIENT_SRC 0x1E /* Transient event status register */
|
|
#define MMA8X5X_TRANSIENT_THS 0x1F /* Transient event threshold */
|
|
#define MMA8X5X_TRANSIENT_COUNT 0x20 /* Transient debounce counter */
|
|
#define MMA8X5X_PULSE_CFG 0x21 /* Pulse enable configuration */
|
|
#define MMA8X5X_PULSE_SRC 0x22 /* Pulse detection source */
|
|
#define MMA8X5X_PULSE_THSX 0x23 /* X pulse threshold */
|
|
#define MMA8X5X_PULSE_THSY 0x24 /* Y pulse threshold */
|
|
#define MMA8X5X_PULSE_THSZ 0x25 /* Z pulse threshold */
|
|
#define MMA8X5X_PULSE_TMLT 0x26 /* Time limit for pulse */
|
|
#define MMA8X5X_PULSE_LTCY 0x27 /* Latency time for 2nd pulse */
|
|
#define MMA8X5X_PULSE_WIND 0x28 /* Window time for 2nd pulse */
|
|
#define MMA8X5X_ASLP_COUNT 0x29 /* Counter setting for Auto-SLEEP */
|
|
#define MMA8X5X_CTRL_REG1 0x2A /* Data rates and modes setting */
|
|
#define MMA8X5X_CTRL_REG2 0x2B /* Sleep Enable, OS modes, RST, ST */
|
|
#define MMA8X5X_CTRL_REG3 0x2C /* Wake from Sleep, IPOL, PP_OD */
|
|
#define MMA8X5X_CTRL_REG4 0x2D /* Interrupt enable register */
|
|
#define MMA8X5X_CTRL_REG5 0x2E /* Interrupt pin (INT1/INT2) map */
|
|
#define MMA8X5X_OFF_X 0x2F /* X-axis offset adjust */
|
|
#define MMA8X5X_OFF_Y 0x30 /* Y-axis offset adjust */
|
|
#define MMA8X5X_OFF_Z 0x31 /* Z-axis offset adjust */
|
|
|
|
/* MMA8x5x Available sampling rates */
|
|
#define MMA8X5X_RATE_800HZ (0 << 3) /* 800 Hz Ouput Data Rate in WAKE mode */
|
|
#define MMA8X5X_RATE_400HZ (1 << 3) /* 400 Hz Ouput Data Rate in WAKE mode */
|
|
#define MMA8X5X_RATE_200HZ (2 << 3) /* 200 Hz Ouput Data Rate in WAKE mode */
|
|
#define MMA8X5X_RATE_100HZ (3 << 3) /* 100 Hz Ouput Data Rate in WAKE mode */
|
|
#define MMA8X5X_RATE_50HZ (4 << 3) /* 50 Hz Ouput Data Rate in WAKE mode */
|
|
#define MMA8X5X_RATE_1HZ25 (5 << 3) /* 12.5 Hz Ouput Data Rate in WAKE mode */
|
|
#define MMA8X5X_RATE_6HZ25 (6 << 3) /* 6.25 Hz Ouput Data Rate in WAKE mode */
|
|
#define MMA8X5X_RATE_1HZ56 (7 << 3) /* 1.56 Hz Ouput Data Rate in WAKE mode */
|
|
|
|
#define MMA8X5X_RATE_DEFAULT MMA8X5X_RATE_200HZ
|
|
|
|
/* MMA8x5x Available range options */
|
|
#define MMA8X5X_RANGE_2G 0
|
|
#define MMA8X5X_RANGE_4G 1
|
|
#define MMA8X5X_RANGE_8G 2
|
|
|
|
#define MMA8X5X_RANGE_DEFAULT MMA8X5X_RANGE_2G
|
|
|
|
/* Named return values */
|
|
#define MMA8X5X_OK 0 /* everything was fine */
|
|
#define MMA8X5X_DATA_READY 1 /* new data ready to be read */
|
|
#define MMA8X5X_NOI2C -1 /* I2C communication failed */
|
|
#define MMA8X5X_NODEV -2 /* no MMA8X5X device found on the bus */
|
|
#define MMA8X5X_NODATA -3 /* no data available */
|
|
|
|
/* MMA8x5x Register Bitfields */
|
|
#define MMA8X5X_STATUS_XDR (1 << 0)
|
|
#define MMA8X5X_STATUS_YDR (1 << 1)
|
|
#define MMA8X5X_STATUS_ZDR (1 << 2)
|
|
#define MMA8X5X_STATUS_ZYXDR (1 << 3)
|
|
#define MMA8X5X_STATUS_XOW (1 << 4)
|
|
#define MMA8X5X_STATUS_YOW (1 << 5)
|
|
#define MMA8X5X_STATUS_ZOW (1 << 6)
|
|
#define MMA8X5X_STATUS_ZYXOW (1 << 7)
|
|
|
|
#define MMA8X5X_F_STATUS_F_CNT_MASK 0x3F
|
|
#define MMA8X5X_F_STATUS_F_WMRK_FLAG (1 << 6)
|
|
#define MMA8X5X_F_STATUS_F_OVF (1 << 7)
|
|
|
|
#define MMA8X5X_F_SETUP_MODE_MASK 0xC0
|
|
#define MMA8X5X_F_SETUP_MODE_DISABLED 0
|
|
#define MMA8X5X_F_SETUP_MODE_CIRCULAR 1
|
|
#define MMA8X5X_F_SETUP_MODE_STOP 2
|
|
#define MMA8X5X_F_SETUP_MODE_TRIGGER 3
|
|
#define MMA8X5X_F_SETUP_F_WMRK_MASK 0x3F
|
|
|
|
#define MMA8X5X_TRIG_CFG_FF_MT (1 << 2)
|
|
#define MMA8X5X_TRIG_CFG_PULSE (1 << 3)
|
|
#define MMA8X5X_TRIG_CFG_LNDPRT (1 << 4)
|
|
#define MMA8X5X_TRIG_CFG_TRANS (1 << 5)
|
|
|
|
#define MMA8X5X_SYSMOD_MASK 0x3
|
|
#define MMA8X5X_SYSMOD_STANDBY 0
|
|
#define MMA8X5X_SYSMOD_WAKE 1
|
|
#define MMA8X5X_SYSMOD_SLEEP 2
|
|
#define MMA8X5X_SYSMOD_FGT_MASK 0x7C
|
|
#define MMA8X5X_SYSMOD_FGERR (1 << 7)
|
|
|
|
#define MMA8X5X_INT_SOURCE_DRDY (1 << 0)
|
|
#define MMA8X5X_INT_SOURCE_FF_MT (1 << 2)
|
|
#define MMA8X5X_INT_SOURCE_PULSE (1 << 3)
|
|
#define MMA8X5X_INT_SOURCE_LNDPRT (1 << 4)
|
|
#define MMA8X5X_INT_SOURCE_TRANS (1 << 5)
|
|
#define MMA8X5X_INT_SOURCE_FIFO (1 << 6)
|
|
#define MMA8X5X_INT_SOURCE_ASLP (1 << 7)
|
|
|
|
#define MMA8X5X_XYZ_DATA_CFG_FS_MASK 0x3
|
|
#define MMA8X5X_XYZ_DATA_CFG_HPF_OUT (1 << 4)
|
|
|
|
#define MMA8X5X_HP_FILTER_SEL_MASK 0x03
|
|
#define MMA8X5X_HP_FILTER_LPF_EN (1 << 4)
|
|
#define MMA8X5X_HP_FILTER_HPF_BYP (1 << 5)
|
|
|
|
#define MMA8X5X_PL_STATUS_BAFRO (1 << 0)
|
|
#define MMA8X5X_PL_STATUS_LAPO_MASK 0x6
|
|
#define MMA8X5X_PL_STATUS_LAPO_P_UP 0
|
|
#define MMA8X5X_PL_STATUS_LAPO_P_DOWN 1
|
|
#define MMA8X5X_PL_STATUS_LAPO_L_RIGHT 2
|
|
#define MMA8X5X_PL_STATUS_LAPO_L_LEFT 3
|
|
#define MMA8X5X_PL_STATUS_LO (1 << 6)
|
|
#define MMA8X5X_PL_STATUS_NEWLP (1 << 7)
|
|
|
|
#define MMA8X5X_PL_CFG_PL_EN (1 << 6)
|
|
#define MMA8X5X_PL_CFG_DBCNTM (1 << 7)
|
|
|
|
#define MMA8X5X_PL_BF_ZCOMP_ZLOCK_MASK 0x07
|
|
#define MMA8X5X_PL_BF_ZCOMP_BKFR_MASK 0xC0
|
|
|
|
#define MMA8X5X_P_L_HYS_MASK 0x07
|
|
#define MMA8X5X_P_L_THS_MASK 0xF8
|
|
|
|
#define MMA8X5X_FF_MT_CFG_XEFE (1 << 3)
|
|
#define MMA8X5X_FF_MT_CFG_YEFE (1 << 4)
|
|
#define MMA8X5X_FF_MT_CFG_ZEFE (1 << 5)
|
|
#define MMA8X5X_FF_MT_CFG_OAE (1 << 6)
|
|
#define MMA8X5X_FF_MT_CFG_ELE (1 << 7)
|
|
|
|
#define MMA8X5X_FF_MT_SRC_XHP (1 << 0)
|
|
#define MMA8X5X_FF_MT_SRC_XHE (1 << 1)
|
|
#define MMA8X5X_FF_MT_SRC_YHP (1 << 2)
|
|
#define MMA8X5X_FF_MT_SRC_YHE (1 << 3)
|
|
#define MMA8X5X_FF_MT_SRC_ZHP (1 << 4)
|
|
#define MMA8X5X_FF_MT_SRC_ZHE (1 << 5)
|
|
#define MMA8X5X_FF_MT_SRC_EA (1 << 7)
|
|
|
|
#define MMA8X5X_FF_MT_THS_MASK 0x7F
|
|
#define MMA8X5X_FF_MT_THS_DBCNTM (1 << 7)
|
|
|
|
#define MMA8X5X_TRANSIENT_CFG_HPF_BYP (1 << 0)
|
|
#define MMA8X5X_TRANSIENT_CFG_XTEFE (1 << 1)
|
|
#define MMA8X5X_TRANSIENT_CFG_YTEFE (1 << 2)
|
|
#define MMA8X5X_TRANSIENT_CFG_ZTEFE (1 << 3)
|
|
#define MMA8X5X_TRANSIENT_CFG_ELE (1 << 4)
|
|
|
|
#define MMA8X5X_TRANSIENT_SRC_XTPOL (1 << 0)
|
|
#define MMA8X5X_TRANSIENT_SRC_XTEVENT (1 << 1)
|
|
#define MMA8X5X_TRANSIENT_SRC_YTPOL (1 << 2)
|
|
#define MMA8X5X_TRANSIENT_SRC_YTEVENT (1 << 3)
|
|
#define MMA8X5X_TRANSIENT_SRC_ZTPOL (1 << 4)
|
|
#define MMA8X5X_TRANSIENT_SRC_ZTEVENT (1 << 5)
|
|
#define MMA8X5X_TRANSIENT_SRC_EA (1 << 6)
|
|
|
|
#define MMA8X5X_TRANSIENT_THS_MASK 0x7F
|
|
#define MMA8X5X_TRANSIENT_THS_DBCNTM (1<< 7)
|
|
|
|
#define MMA8X5X_PULSE_CFG_XSPEFE (1 << 0)
|
|
#define MMA8X5X_PULSE_CFG_XDPEFE (1 << 1)
|
|
#define MMA8X5X_PULSE_CFG_YSPEFE (1 << 2)
|
|
#define MMA8X5X_PULSE_CFG_YDPEFE (1 << 3)
|
|
#define MMA8X5X_PULSE_CFG_ZSPEFE (1 << 4)
|
|
#define MMA8X5X_PULSE_CFG_ZDPEFE (1 << 5)
|
|
#define MMA8X5X_PULSE_CFG_ELE (1 << 6)
|
|
#define MMA8X5X_PULSE_CFG_DPA (1 << 7)
|
|
|
|
#define MMA8X5X_PULSE_SRC_POLX (1 << 0)
|
|
#define MMA8X5X_PULSE_SRC_POLY (1 << 1)
|
|
#define MMA8X5X_PULSE_SRC_POLZ (1 << 2)
|
|
#define MMA8X5X_PULSE_SRC_DPE (1 << 3)
|
|
#define MMA8X5X_PULSE_SRC_AXX (1 << 4)
|
|
#define MMA8X5X_PULSE_SRC_AXY (1 << 5)
|
|
#define MMA8X5X_PULSE_SRC_AXZ (1 << 6)
|
|
#define MMA8X5X_PULSE_SRC_EA (1 << 7)
|
|
|
|
#define MMA8X5X_PULSE_THSX_MASK 0x7F
|
|
#define MMA8X5X_PULSE_THSY_MASK 0x7F
|
|
#define MMA8X5X_PULSE_THSZ_MASK 0x7F
|
|
|
|
#define MMA8X5X_CTRL_REG1_ACTIVE (1 << 0)
|
|
#define MMA8X5X_CTRL_REG1_F_READ (1 << 1)
|
|
#define MMA8X5X_CTRL_REG1_DR_MASK 0x38
|
|
#define MMA8X5X_CTRL_REG1_DR_SHIFT 3
|
|
#define MMA8X5X_CTRL_REG1_DR(x) (((uint8_t)(((uint8_t)(x))<<\
|
|
MMA8X5X_CTRL_REG1_DR_SHIFT))\
|
|
&MMA8X5X_CTRL_REG1_DR_MASK)
|
|
#define MMA8X5X_CTRL_REG1_ASR_MASK 0xC0
|
|
#define MMA8X5X_CTRL_REG1_ASR_50HZ 0
|
|
#define MMA8X5X_CTRL_REG1_ASR_12HZ5 1
|
|
#define MMA8X5X_CTRL_REG1_ASR_6HZ25 2
|
|
#define MMA8X5X_CTRL_REG1_ASR_1HZ56 3
|
|
|
|
#define MMA8X5X_CTRL_REG2_MODS_MASK 0x3
|
|
#define MMA8X5X_CTRL_REG2_MODS_NORMAL 0
|
|
#define MMA8X5X_CTRL_REG2_MODS_LNLP 1
|
|
#define MMA8X5X_CTRL_REG2_MODS_HR 2
|
|
#define MMA8X5X_CTRL_REG2_MODS_LP 3
|
|
#define MMA8X5X_CTRL_REG2_SLPE (1 << 2)
|
|
#define MMA8X5X_CTRL_REG2_SMODS_MASK 0x18
|
|
#define MMA8X5X_CTRL_REG2_SMODS_NORMAL 0
|
|
#define MMA8X5X_CTRL_REG2_SMODS_LNLP 1
|
|
#define MMA8X5X_CTRL_REG2_SMODS_HR 2
|
|
#define MMA8X5X_CTRL_REG2_SMODS_LP 3
|
|
#define MMA8X5X_CTRL_REG2_RST (1 << 6)
|
|
#define MMA8X5X_CTRL_REG2_ST (1 << 7)
|
|
|
|
#define MMA8X5X_CTRL_REG3_PP_OD (1 << 0)
|
|
#define MMA8X5X_CTRL_REG3_IPOL (1 << 1)
|
|
#define MMA8X5X_CTRL_REG3_WAKE_FF_MT (1 << 3)
|
|
#define MMA8X5X_CTRL_REG3_WAKE_PULSE (1 << 4)
|
|
#define MMA8X5X_CTRL_REG3_WAKE_LNDPRT (1 << 5)
|
|
#define MMA8X5X_CTRL_REG3_WAKE_TRANS (1 << 6)
|
|
#define MMA8X5X_CTRL_REG3_FIFO_GATE (1 << 7)
|
|
|
|
#define MMA8X5X_CTRL_REG4_INT_EN_DRDY (1 << 0)
|
|
#define MMA8X5X_CTRL_REG4_INT_EN_FF_MT (1 << 2)
|
|
#define MMA8X5X_CTRL_REG4_INT_EN_PULSE (1 << 3)
|
|
#define MMA8X5X_CTRL_REG4_INT_EN_LNDPRT (1 << 4)
|
|
#define MMA8X5X_CTRL_REG4_INT_EN_TRANS (1 << 5)
|
|
#define MMA8X5X_CTRL_REG4_INT_EN_FIFO (1 << 6)
|
|
#define MMA8X5X_CTRL_REG4_INT_EN_ASLP (1 << 7)
|
|
|
|
#define MMA8X5X_CTRL_REG5_INT_CFG_DRDY (1 << 0)
|
|
#define MMA8X5X_CTRL_REG5_INT_CFG_FF_MT (1 << 2)
|
|
#define MMA8X5X_CTRL_REG5_INT_CFG_PULSE (1 << 3)
|
|
#define MMA8X5X_CTRL_REG5_INT_CFG_LNDPRT (1 << 4)
|
|
#define MMA8X5X_CTRL_REG5_INT_CFG_TRANS (1 << 5)
|
|
#define MMA8X5X_CTRL_REG5_INT_CFG_FIFO (1 << 6)
|
|
#define MMA8X5X_CTRL_REG5_INT_CFG_ASLP (1 << 7)
|
|
|
|
namespace upm {
|
|
|
|
typedef struct {
|
|
uint8_t type;
|
|
uint8_t rate;
|
|
uint8_t range;
|
|
uint8_t offsetX;
|
|
uint8_t offsetY;
|
|
uint8_t offsetZ;
|
|
} mma8x5x_params_t;
|
|
|
|
typedef struct {
|
|
int16_t x;
|
|
int16_t y;
|
|
int16_t z;
|
|
} mma8x5x_data_t;
|
|
|
|
/**
|
|
* @brief MMA8X5X 3-Axis Accelerometer
|
|
* @defgroup mma8x5x libupm-mma8x5x
|
|
* @ingroup freescale i2c accelerometer compass
|
|
*/
|
|
|
|
/**
|
|
* @library mma8x5x
|
|
* @sensor mma8x5x
|
|
* @comname MMA8X5X Three-Axis Accelerometer
|
|
* @altid mma8451 mma8452 mma8453 mma8652 mma8653
|
|
* @type accelerometer compass
|
|
* @man freescale
|
|
* @web http://www.nxp.com/products/sensors/accelerometers:DRSNSAXLRTN
|
|
* @con i2c
|
|
*
|
|
* @brief API for the MMA8X5X Three-Axis Accelerometer
|
|
*
|
|
* Description in web-link above:
|
|
* The NXP MMA8X5X are low-power, three-axis capacitive micromachined
|
|
* accelerometer with 10/12/14 bits of resolution. These accelerometer
|
|
* are packed with embedded functions with flexible user-programmable
|
|
* options configurable to two interrupt pins. The MMA8X5X have user-selectable
|
|
* full scales of +-2g/+-4g/+-8g.
|
|
*
|
|
* @snippet mma8x5x.cxx Interesting
|
|
*/
|
|
class MMA8X5X {
|
|
public:
|
|
/**
|
|
*
|
|
* Instantiates an MMA8X5X object
|
|
*
|
|
* @param bus Number of the used bus
|
|
* @params params Params of device
|
|
* @param devAddr Address of the used I2C device
|
|
*/
|
|
MMA8X5X (int bus, mma8x5x_params_t* params=NULL,
|
|
int devAddr=MMA8X5X_I2C_ADDRESS);
|
|
|
|
/**
|
|
* Set device name and type matching given type or
|
|
* read out devive_id to set name and type of device
|
|
*
|
|
* @param type Type of device if set or
|
|
* 0 if needed to find out by it
|
|
* @return 0 on success
|
|
* -1 on error
|
|
*/
|
|
int setDeviceName(uint8_t type);
|
|
|
|
/**
|
|
* Set device params to given data or
|
|
* set default params and read out devive_id to set type of device
|
|
*
|
|
* @param params Params of device if set by user
|
|
* NULL if it is not set by user
|
|
* @return 0 on success
|
|
* -1 on error
|
|
*/
|
|
int setDeviceParams(mma8x5x_params_t* params);
|
|
|
|
/**
|
|
* Set user offset correction
|
|
* Offset correction register will be erased after accelerometer reset
|
|
*
|
|
* @param x Offset correction value for x-axis
|
|
* @param y Offset correction value for y-axis
|
|
* @param z Offset correction value for z-axis
|
|
*
|
|
* @return 0 on success
|
|
* -1 on error
|
|
*/
|
|
int setUserOffset(int8_t x, int8_t y, int8_t z);
|
|
|
|
/**
|
|
* Set active mode, this enables periodic measurements
|
|
*
|
|
* @return 0 on success
|
|
* -1 on error
|
|
*/
|
|
int setActive(void);
|
|
|
|
/**
|
|
* Set standby mode, this disables periodic measurements
|
|
*
|
|
* @return 0 on success
|
|
* -1 on error
|
|
*/
|
|
int setStandby(void);
|
|
|
|
/**
|
|
* Check for new set of measurement data.
|
|
*
|
|
* @return MMA8X5X_DATA_READY if new sample is ready
|
|
* MMA8X5X_NODATA if nothing is available
|
|
*/
|
|
int isReady(void);
|
|
|
|
/**
|
|
* Read & calculate accelerometer data in mg & saves them to variables
|
|
*
|
|
* @return 0 on success
|
|
* -1 on error
|
|
*/
|
|
int sampleData(void);
|
|
|
|
/**
|
|
* Get x-axis acceleration
|
|
*
|
|
* @param bSampleData Flag to read sensor
|
|
* @return The x-axis acceleration on success
|
|
* -999 on error
|
|
*/
|
|
int16_t getX(int bSampleData = 0);
|
|
|
|
/**
|
|
* Get y-axis acceleration
|
|
*
|
|
* @param bSampleData Flag to read sensor
|
|
* @return The y-axis acceleration on success
|
|
* -999 on error
|
|
*/
|
|
int16_t getY(int bSampleData = 0);
|
|
|
|
/**
|
|
* Get z-axis acceleration
|
|
*
|
|
* @param bSampleData Flag to read sensor
|
|
* @return The z-axis acceleration on success
|
|
* -999 on error
|
|
*/
|
|
int16_t getZ(int bSampleData = 0);
|
|
|
|
/**
|
|
* Get sensor values
|
|
*
|
|
* @param data Sensor values
|
|
* @param bSampleData Flag to read sensor
|
|
* @return 0 on success
|
|
* -1 on error
|
|
*/
|
|
int getData(mma8x5x_data_t* data, int bSampleData = 0);
|
|
|
|
private:
|
|
|
|
std::string m_name;
|
|
|
|
int m_controlAddr;
|
|
int m_bus;
|
|
mraa::I2c m_i2ControlCtx;
|
|
|
|
mma8x5x_params_t s_params[1];
|
|
mma8x5x_data_t s_data[1];
|
|
};
|
|
|
|
}
|