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f37236fa01
The mraa_i2c_read_bytes_call didn't work with firmata based platforms and was changed to mraa_i2c_read_bytes_data call which worked. Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
369 lines
9.1 KiB
C
369 lines
9.1 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 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 <string.h>
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#include <assert.h>
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#include "mma7660.h"
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mma7660_context mma7660_init(int bus, uint8_t address)
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{
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mma7660_context dev =
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(mma7660_context)malloc(sizeof(struct _mma7660_context));
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if (!dev)
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return NULL;
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memset((void *)dev, 0, sizeof(struct _mma7660_context));
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dev->i2c = NULL;
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dev->gpio = NULL;
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dev->isrInstalled = false;
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// make sure MRAA is initialized
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int mraa_rv;
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if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
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{
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printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
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mma7660_close(dev);
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return NULL;
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}
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// setup our i2c
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if ( !(dev->i2c = mraa_i2c_init(bus)) )
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{
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printf("%s: mraa_i2c_init() failed\n", __FUNCTION__);
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mma7660_close(dev);
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return NULL;
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}
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if (mraa_i2c_address(dev->i2c, address))
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{
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printf("%s: mraa_i2c_address() failed\n", __FUNCTION__);
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mma7660_close(dev);
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return NULL;
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}
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return dev;
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}
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void mma7660_close(mma7660_context dev)
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{
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assert(dev != NULL);
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mma7660_uninstall_isr(dev);
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if (dev->i2c)
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{
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mma7660_set_mode_standby(dev);
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mraa_i2c_stop(dev->i2c);
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}
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free(dev);
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}
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upm_result_t mma7660_write_byte(const mma7660_context dev,
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uint8_t reg, uint8_t byte)
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{
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assert(dev != NULL);
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if (mraa_i2c_write_byte_data(dev->i2c, byte, reg))
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{
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printf("%s: mraa_i2c_write_byte_data() failed.\n", __FUNCTION__);
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return UPM_ERROR_OPERATION_FAILED;
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}
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return UPM_SUCCESS;
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}
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upm_result_t mma7660_read_byte(const mma7660_context dev, uint8_t reg,
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uint8_t *byte)
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{
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uint8_t data[11];
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assert(dev != NULL);
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int ret = mraa_i2c_read_bytes_data(dev->i2c, 0x00, data, 11);
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if (ret != 11) {
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printf("%s: mraa_i2c_read_bytes_data() failed.\n", __FUNCTION__);
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printf("returned %d bytes upon read\n", ret);
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if (byte)
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*byte = 0;
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return UPM_ERROR_OPERATION_FAILED;
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}
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if (byte)
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*byte = (uint8_t)(data[reg] & 0xff);
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return UPM_SUCCESS;
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}
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upm_result_t mma7660_get_raw_values(const mma7660_context dev,
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int *x, int *y, int *z)
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{
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assert(dev != NULL);
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int rv;
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if (x)
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{
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if ( (rv = mma7660_get_verified_axis(dev, MMA7660_REG_XOUT, x)) )
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return rv;
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}
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if (y)
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{
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if ( (rv = mma7660_get_verified_axis(dev, MMA7660_REG_YOUT, y)) )
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return rv;
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}
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if (z)
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{
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if ( (rv = mma7660_get_verified_axis(dev, MMA7660_REG_ZOUT, z)) )
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return rv;
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}
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return UPM_SUCCESS;
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}
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upm_result_t mma7660_set_mode_active(const mma7660_context dev)
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{
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assert(dev != NULL);
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uint8_t modeReg;
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if (mma7660_read_byte(dev, MMA7660_REG_MODE, &modeReg))
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return UPM_ERROR_OPERATION_FAILED;
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// The D2 (TON bit) should be cleared, and the MODE bit set
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modeReg &= ~MMA7660_MODE_TON;
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modeReg |= MMA7660_MODE_MODE;
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return mma7660_write_byte(dev, MMA7660_REG_MODE, modeReg);
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}
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upm_result_t mma7660_set_mode_standby(const mma7660_context dev)
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{
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assert(dev != NULL);
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uint8_t modeReg;
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if (mma7660_read_byte(dev, MMA7660_REG_MODE, &modeReg))
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return UPM_ERROR_OPERATION_FAILED;
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// the D0 (mode bit) and D2 (TON bit) should be cleared.
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modeReg &= ~MMA7660_MODE_TON;
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modeReg &= ~MMA7660_MODE_MODE;
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return mma7660_write_byte(dev, MMA7660_REG_MODE, modeReg);
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}
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// read an axis value, verifying it's validity
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upm_result_t mma7660_get_verified_axis(const mma7660_context dev,
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MMA7660_REG_T axis, int *val)
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{
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assert(dev != NULL);
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*val = 0;
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// We only want one of the 3 axes
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if (axis > 2)
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{
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printf("%s: axis must be 0, 1, or 2.\n", __FUNCTION__);
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return UPM_ERROR_OUT_OF_RANGE;
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}
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// we need to check the alert bit and sign bits if the alert bit is
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// set, this means that the register was being updated when the
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// register was read, so re-read until it's clear.
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uint8_t value = 0;
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do {
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if (mma7660_read_byte(dev, axis, &value))
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return UPM_ERROR_OPERATION_FAILED;
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// check alert bit
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} while (value & 0x40);
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// shift the sign bit over, and compensate
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*val = ((int8_t)(value << 2) / 4);
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return UPM_SUCCESS;
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}
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// read the tilt register, verifying it's validity
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upm_result_t mma7660_get_verified_tilt(const mma7660_context dev,
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uint8_t *val)
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{
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assert(dev != NULL);
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// we need to check the alert bit and sign bits if the alert bit is
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// set, this means that the register was being updated when the
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// register was read, so re-read until it's clear.
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do {
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if (mma7660_read_byte(dev, MMA7660_REG_TILT, val))
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return UPM_ERROR_OPERATION_FAILED;
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// check alert bit
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} while (*val & 0x40);
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return UPM_SUCCESS;
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}
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upm_result_t mma7660_tilt_back_front(const mma7660_context dev,
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uint8_t *bits)
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{
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assert(dev != NULL);
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if (mma7660_get_verified_tilt(dev, bits))
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return UPM_ERROR_OPERATION_FAILED;
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// mask off the bits we don't care about
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*bits &= 0x03;
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return UPM_SUCCESS;
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}
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upm_result_t mma7660_tilt_landscape_portrait(const mma7660_context dev,
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uint8_t *bits)
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{
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assert(dev != NULL);
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if (mma7660_get_verified_tilt(dev, bits))
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return UPM_ERROR_OPERATION_FAILED;
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// mask off the bits we don't care about
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*bits >>= 2;
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*bits &= 0x07;
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return UPM_SUCCESS;
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}
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upm_result_t mma7660_tilt_tap(const mma7660_context dev, bool *tap)
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{
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assert(dev != NULL);
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uint8_t val = 0;
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if (mma7660_get_verified_tilt(dev, &val))
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return UPM_ERROR_OPERATION_FAILED;
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if (val & 0x20)
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*tap = true;
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else
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*tap = false;
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return UPM_SUCCESS;
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}
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upm_result_t mma7660_tilt_shake(const mma7660_context dev, bool *shake)
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{
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assert(dev != NULL);
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uint8_t val = 0;
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if (mma7660_get_verified_tilt(dev, &val))
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return UPM_ERROR_OPERATION_FAILED;
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if (val & 0x80)
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*shake = true;
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else
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*shake = false;
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return UPM_SUCCESS;
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}
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upm_result_t mma7660_install_isr(const mma7660_context dev, int pin,
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void (*isr)(void *), void *arg)
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{
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assert(dev != NULL);
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mma7660_uninstall_isr(dev);
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if ( !(dev->gpio = mraa_gpio_init(pin)) )
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{
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printf("%s: mraa_gpio_init failed.\n", __FUNCTION__);
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return UPM_ERROR_OPERATION_FAILED;
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}
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mraa_gpio_dir(dev->gpio, MRAA_GPIO_IN);
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// install our interrupt handler
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mraa_gpio_isr(dev->gpio, MRAA_GPIO_EDGE_RISING,
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isr, arg);
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dev->isrInstalled = true;
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return UPM_SUCCESS;
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}
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void mma7660_uninstall_isr(const mma7660_context dev)
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{
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assert(dev != NULL);
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if (!dev->isrInstalled)
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return;
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mraa_gpio_isr_exit(dev->gpio);
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dev->isrInstalled = false;
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mraa_gpio_close(dev->gpio);
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dev->gpio = NULL;
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}
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upm_result_t mma7660_set_interrupt_bits(const mma7660_context dev,
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uint8_t ibits)
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{
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assert(dev != NULL);
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return mma7660_write_byte(dev, MMA7660_REG_INTSU, ibits);
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}
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upm_result_t mma7660_set_sample_rate(const mma7660_context dev,
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MMA7660_AUTOSLEEP_T sr)
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{
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assert(dev != NULL);
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return mma7660_write_byte(dev, MMA7660_REG_SR, sr);
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}
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upm_result_t mma7660_get_acceleration(const mma7660_context dev,
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float *ax, float *ay, float *az)
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{
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assert(dev != NULL);
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int x, y, z;
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if (mma7660_get_raw_values(dev, &x, &y, &z))
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{
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printf("%s: mma7660_get_raw_values() failed.\n", __FUNCTION__);
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return UPM_ERROR_OPERATION_FAILED;
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}
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// 21.33, typical counts/g
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if (ax)
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*ax = x/21.33;
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if (ay)
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*ay = y/21.33;
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if (az)
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*az = z/21.33;
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return UPM_SUCCESS;
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}
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