mirror of
https://github.com/eclipse/upm.git
synced 2025-03-23 17:00:03 +03:00
136 lines
3.8 KiB
C++
136 lines
3.8 KiB
C++
/*
|
|
* Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
|
|
* Copyright (c) 2016 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/iio.h>
|
|
|
|
namespace upm
|
|
{
|
|
/**
|
|
* @brief KXCJK1013 Tri-axis Digital Accelerometer
|
|
* @defgroup kxcjk1013 libupm-kxcjk1013
|
|
* @ingroup Kionix iio i2c tri-axis digital accelerometer
|
|
*/
|
|
|
|
/**
|
|
* @library kxcjk1013
|
|
* @sensor kxcjk1013
|
|
* @comname KXCJK1013 Tri-axis Digital Accelerometer
|
|
* @type accelerometer
|
|
* @man Kionix
|
|
* @con iio i2c
|
|
*
|
|
* @brief KXCJK1013 Tri-axis Digital Accelerometer API
|
|
*
|
|
* The KXCJK is a tri-axis +/-2g, +/-4g or +/-8g silicon micromachined
|
|
* accelerometer.
|
|
*
|
|
* @snippet kxcjk1013.cxx Interesting
|
|
*/
|
|
|
|
class KXCJK1013
|
|
{
|
|
public:
|
|
/**
|
|
* KXCJK1013 Tri-axis Digital Accelerometer
|
|
*
|
|
* @param iio device number
|
|
*/
|
|
KXCJK1013(int device);
|
|
|
|
/**
|
|
* KXCJK1013 destructor
|
|
*/
|
|
~KXCJK1013();
|
|
|
|
/**
|
|
* Installs an interrupt service routine (ISR) to be called when
|
|
* an interrupt occurs
|
|
*
|
|
* @param interrupt channel
|
|
* @param fptr Pointer to a function to be called on interrupt
|
|
* @param arg Pointer to an object to be supplied as an
|
|
* argument to the ISR.
|
|
*/
|
|
void installISR(void (*isr)(char*), void* arg);
|
|
|
|
/**
|
|
* Extract the channel value based on channel type
|
|
* @param input Channel data
|
|
* @param chan MRAA iio-layer channel info
|
|
*/
|
|
int64_t getChannelValue(unsigned char* input, mraa_iio_channel* chan);
|
|
|
|
/**
|
|
* Enable trigger buffer
|
|
* @param trigger buffer length in integer
|
|
*/
|
|
bool enableBuffer(int length);
|
|
|
|
/**
|
|
* Disable trigger buffer
|
|
*/
|
|
bool disableBuffer();
|
|
|
|
/**
|
|
* Set scale
|
|
* @param scale in float
|
|
* Available scales are 0.009582(2g), 0.019163(4g), and 0.038326(8g)
|
|
* Default scale is 0.019163
|
|
*/
|
|
bool setScale(const float scale);
|
|
|
|
/**
|
|
* Set sampling frequency
|
|
* @param sampling frequency in float
|
|
* Available sampling frequency are 0.781000, 1.563000, 3.125000, 6.250000, 12.500000, 25, 50,
|
|
* 100, 200, 400, 800, and 1600
|
|
* Default sampling frequency is 25
|
|
*/
|
|
bool setSamplingFrequency(const float sampling_frequency);
|
|
|
|
/**
|
|
* Enable 3 axis scan element
|
|
*/
|
|
bool enable3AxisChannel();
|
|
|
|
/**
|
|
* Process enabled channel buffer and return x, y, z axis
|
|
* @param data Enabled channel data, 6 bytes, each axis 2 bytes
|
|
* @param x X-Axis
|
|
* @param y Y-Axis
|
|
* @param z Z-Axis
|
|
*/
|
|
void extract3Axis(char* data, float* x, float* y, float* z);
|
|
|
|
private:
|
|
mraa_iio_context m_iio;
|
|
int m_iio_device_num;
|
|
bool m_mount_matrix_exist; // is mount matrix exist
|
|
float m_mount_matrix[9]; // mount matrix
|
|
float m_scale; // accelerometer data scale
|
|
};
|
|
}
|