upm  1.6.0
Sensor/Actuator repository for libmraa (v1.9.0)
mma7455.hpp
1 /*
2  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
3  * Copyright (c) 2014 Intel Corporation.
4  *
5  * Permission is hereby granted, free of charge, to any person obtaining
6  * a copy of this software and associated documentation files (the
7  * "Software"), to deal in the Software without restriction, including
8  * without limitation the rights to use, copy, modify, merge, publish,
9  * distribute, sublicense, and/or sell copies of the Software, and to
10  * permit persons to whom the Software is furnished to do so, subject to
11  * the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 #pragma once
25 
26 #include <string>
27 #include <vector>
28 #include <mraa/i2c.hpp>
29 
30 #define ADDR 0x1D // device address
31 
32 // Register names according to the datasheet.
33 // Register 0x1C is sometimes called 'PW', and sometimes 'PD'.
34 // The two reserved registers cannot be used.
35 #define MMA7455_XOUTL 0x00 // Read only, Output Value X LSB
36 #define MMA7455_XOUTH 0x01 // Read only, Output Value X MSB
37 #define MMA7455_YOUTL 0x02 // Read only, Output Value Y LSB
38 #define MMA7455_YOUTH 0x03 // Read only, Output Value Y MSB
39 #define MMA7455_ZOUTL 0x04 // Read only, Output Value Z LSB
40 #define MMA7455_ZOUTH 0x05 // Read only, Output Value Z MSB
41 #define MMA7455_XOUT8 0x06 // Read only, Output Value X 8 bits
42 #define MMA7455_YOUT8 0x07 // Read only, Output Value Y 8 bits
43 #define MMA7455_ZOUT8 0x08 // Read only, Output Value Z 8 bits
44 #define MMA7455_STATUS 0x09 // Read only, Status Register
45 #define MMA7455_DETSRC 0x0A // Read only, Detection Source Register
46 #define MMA7455_TOUT 0x0B // Temperature Output Value (Optional)
47 #define MMA7455_RESERVED1 0x0C // Reserved
48 #define MMA7455_I2CAD 0x0D // Read/Write, I2C Device Address
49 #define MMA7455_USRINF 0x0E // Read only, User Information (Optional)
50 #define MMA7455_WHOAMI 0x0F // Read only, "Who am I" value (Optional)
51 #define MMA7455_XOFFL 0x10 // Read/Write, Offset Drift X LSB
52 #define MMA7455_XOFFH 0x11 // Read/Write, Offset Drift X MSB
53 #define MMA7455_YOFFL 0x12 // Read/Write, Offset Drift Y LSB
54 #define MMA7455_YOFFH 0x13 // Read/Write, Offset Drift Y MSB
55 #define MMA7455_ZOFFL 0x14 // Read/Write, Offset Drift Z LSB
56 #define MMA7455_ZOFFH 0x15 // Read/Write, Offset Drift Z MSB
57 #define MMA7455_MCTL 0x16 // Read/Write, Mode Control Register
58 #define MMA7455_INTRST 0x17 // Read/Write, Interrupt Latch Reset
59 #define MMA7455_CTL1 0x18 // Read/Write, Control 1 Register
60 #define MMA7455_CTL2 0x19 // Read/Write, Control 2 Register
61 #define MMA7455_LDTH 0x1A // Read/Write, Level Detection Threshold Limit Value
62 #define MMA7455_PDTH 0x1B // Read/Write, Pulse Detection Threshold Limit Value
63 #define MMA7455_PD 0x1C // Read/Write, Pulse Duration Value
64 #define MMA7455_LT 0x1D // Read/Write, Latency Time Value (between pulses)
65 #define MMA7455_TW 0x1E // Read/Write, Time Window for Second Pulse Value
66 #define MMA7455_RESERVED2 0x1F // Reserved
67 
68 // Defines for the bits to be able to change
69 // between the bit number and the binary definition.
70 // By using the bit number, programming MMA7455
71 // is like programming an AVR microcontroller.
72 // But instead of using "(1<<X)", or "_BV(X)",
73 // the Arduino "bit(X)" is used.
74 #define MMA7455_D0 0
75 #define MMA7455_D1 1
76 #define MMA7455_D2 2
77 #define MMA7455_D3 3
78 #define MMA7455_D4 4
79 #define MMA7455_D5 5
80 #define MMA7455_D6 6
81 #define MMA7455_D7 7
82 
83 // Status Register
84 #define MMA7455_DRDY MMA7455_D0
85 #define MMA7455_DOVR MMA7455_D1
86 #define MMA7455_PERR MMA7455_D2
87 
88 // Mode Control Register
89 #define MMA7455_MODE0 MMA7455_D0
90 #define MMA7455_MODE1 MMA7455_D1
91 #define MMA7455_GLVL0 MMA7455_D2
92 #define MMA7455_GLVL1 MMA7455_D3
93 #define MMA7455_STON MMA7455_D4
94 #define MMA7455_SPI3W MMA7455_D5
95 #define MMA7455_DRPD MMA7455_D6
96 
97 // Control 1 Register
98 #define MMA7455_INTPIN MMA7455_D0
99 #define MMA7455_INTREG0 MMA7455_D1
100 #define MMA7455_INTREG1 MMA7455_D2
101 #define MMA7455_XDA MMA7455_D3
102 #define MMA7455_YDA MMA7455_D4
103 #define MMA7455_ZDA MMA7455_D5
104 #define MMA7455_THOPT MMA7455_D6
105 #define MMA7455_DFBW MMA7455_D7
106 
107 // Control 2 Register
108 #define MMA7455_LDPL MMA7455_D0
109 #define MMA7455_PDPL MMA7455_D1
110 #define MMA7455_DRVO MMA7455_D2
111 
112 // Interrupt Latch Reset Register
113 #define MMA7455_CLR_INT1 MMA7455_D0
114 #define MMA7455_CLR_INT2 MMA7455_D1
115 
116 // Detection Source Register
117 #define MMA7455_INT1 MMA7455_D0
118 #define MMA7455_INT2 MMA7455_D1
119 #define MMA7455_PDZ MMA7455_D2
120 #define MMA7455_PDY MMA7455_D3
121 #define MMA7455_PDX MMA7455_D4
122 #define MMA7455_LDZ MMA7455_D5
123 #define MMA7455_LDY MMA7455_D6
124 #define MMA7455_LDX MMA7455_D7
125 
126 // I2C Device Address Register
127 #define MMA7455_I2CDIS MMA7455_D7
128 
129 #define HIGH 1
130 #define LOW 0
131 
132 namespace upm {
133 
134 typedef union {
135  struct {
136  unsigned char x_lsb;
137  unsigned char x_msb;
138  unsigned char y_lsb;
139  unsigned char y_msb;
140  unsigned char z_lsb;
141  unsigned char z_msb;
142  } reg;
143 
144  struct {
145  short x;
146  short y;
147  short z;
148  } value;
149 } accelData;
150 
151 #define BIT(n) (1<<n)
152 
174 class MMA7455 {
175  public:
182  MMA7455 (int bus=0, int devAddr=0x1D);
183 
189  std::string name()
190  {
191  return m_name;
192  }
193 
199  mraa::Result calibrate ();
200 
210  mraa::Result readData (short * ptrX, short * ptrY, short * ptrZ);
211 
217  std::vector<short> readData ();
218 
226  int i2cReadReg (unsigned char reg, uint8_t *buffer, int len);
227 
235  mraa::Result i2cWriteReg (unsigned char reg, uint8_t *buffer, int len);
236 
237  private:
238  std::string m_name;
239  int m_controlAddr;
240  int m_bus;
241  mraa::I2c m_i2ControlCtx;
242 };
243 
244 }
mraa::Result calibrate()
Definition: mma7455.cxx:70
int i2cReadReg(unsigned char reg, uint8_t *buffer, int len)
Definition: mma7455.cxx:144
Definition: mma7455.hpp:134
C++ API for the kxtj3 driver.
Definition: a110x.hpp:29
MMA7455(int bus=0, int devAddr=0x1D)
Definition: mma7455.cxx:38
std::vector< short > readData()
Definition: mma7455.cxx:137
API for the MMA7455 Accelerometer.
Definition: mma7455.hpp:174
std::string name()
Definition: mma7455.hpp:189
mraa::Result i2cWriteReg(unsigned char reg, uint8_t *buffer, int len)
Definition: mma7455.cxx:155