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136 lines
3.8 KiB
C++
136 lines
3.8 KiB
C++
/*
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* Author: Lay, Kuan Loon <kuan.loon.lay@intel.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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#pragma once
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#include <string>
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#include <mraa/iio.h>
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namespace upm
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{
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/**
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* @brief KXCJK1013 Tri-axis Digital Accelerometer
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* @defgroup kxcjk1013 libupm-kxcjk1013
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* @ingroup Kionix iio i2c tri-axis digital accelerometer
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*/
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/**
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* @library kxcjk1013
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* @sensor kxcjk1013
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* @comname KXCJK1013 Tri-axis Digital Accelerometer
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* @type accelerometer
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* @man Kionix
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* @con iio i2c
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*
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* @brief KXCJK1013 Tri-axis Digital Accelerometer API
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*
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* The KXCJK is a tri-axis +/-2g, +/-4g or +/-8g silicon micromachined
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* accelerometer.
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*
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* @snippet kxcjk1013.cxx Interesting
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*/
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class KXCJK1013
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{
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public:
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/**
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* KXCJK1013 Tri-axis Digital Accelerometer
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*
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* @param iio device number
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*/
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KXCJK1013(int device);
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/**
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* KXCJK1013 destructor
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*/
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~KXCJK1013();
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/**
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* Installs an interrupt service routine (ISR) to be called when
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* an interrupt occurs
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*
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* @param interrupt channel
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* @param fptr Pointer to a function to be called on interrupt
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* @param arg Pointer to an object to be supplied as an
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* argument to the ISR.
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*/
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void installISR(void (*isr)(char*), void* arg);
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/**
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* Extract the channel value based on channel type
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* @param input Channel data
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* @param chan MRAA iio-layer channel info
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*/
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int64_t getChannelValue(unsigned char* input, mraa_iio_channel* chan);
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/**
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* Enable trigger buffer
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* @param trigger buffer length in integer
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*/
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bool enableBuffer(int length);
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/**
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* Disable trigger buffer
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*/
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bool disableBuffer();
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/**
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* Set scale
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* @param scale in float
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* Available scales are 0.009582(2g), 0.019163(4g), and 0.038326(8g)
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* Default scale is 0.019163
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*/
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bool setScale(const float scale);
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/**
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* Set sampling frequency
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* @param sampling frequency in float
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* Available sampling frequency are 0.781000, 1.563000, 3.125000, 6.250000, 12.500000, 25, 50,
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* 100, 200, 400, 800, and 1600
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* Default sampling frequency is 25
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*/
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bool setSamplingFrequency(const float sampling_frequency);
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/**
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* Enable 3 axis scan element
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*/
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bool enable3AxisChannel();
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/**
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* Process enabled channel buffer and return x, y, z axis
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* @param data Enabled channel data, 6 bytes, each axis 2 bytes
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* @param x X-Axis
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* @param y Y-Axis
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* @param z Z-Axis
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*/
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void extract3Axis(char* data, float* x, float* y, float* z);
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private:
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mraa_iio_context m_iio;
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int m_iio_device_num;
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bool m_mount_matrix_exist; // is mount matrix exist
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float m_mount_matrix[9]; // mount matrix
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float m_scale; // accelerometer data scale
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};
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}
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