Public Member Functions
	KX122 (int bus, int addr, int chip_select, int spi_bus_frequency=DEFAULT_SPI_FREQUENCY)

	~KX122 ()

void	deviceInit (KX122_ODR_T odr, KX122_RES_T res, KX122_RANGE_T grange)

float	getSamplePeriod ()

uint8_t	getWhoAmI ()

void	getRawAccelerationData (float x, float y, float *z)

void	getAccelerationData (float x, float y, float *z)

std::vector< float >	getAccelerationDataVector ()

void	softwareReset ()

void	enableIIR ()

void	disableIIR ()

void	selfTest ()

void	setSensorStandby ()

void	setSensorActive ()

void	setODR (KX122_ODR_T odr)

void	setGrange (KX122_RANGE_T grange)

void	setResolution (KX122_RES_T res)

void	setBW (LPRO_STATE_T lpro)

void	setAverage (KX122_AVG_T avg)

void	installISR (mraa::Edge edge, KX122_INTERRUPT_PIN_T intp, int pin, void(isr)(void ), void *arg)

void	uninstallISR (KX122_INTERRUPT_PIN_T intp)

void	enableInterrupt1 (KX122_INTERRUPT_POLARITY_T polarity)

void	enableInterrupt2 (KX122_INTERRUPT_POLARITY_T polarity)

void	disableInterrupt1 ()

void	disableInterrupt2 ()

void	routeInterrupt1 (uint8_t bits)

void	routeInterrupt2 (uint8_t bits)

bool	getInterruptStatus ()

uint8_t	getInterruptSource ()

void	clearInterrupt ()

void	enableDataReadyInterrupt ()

void	disableDataReadyInterrupt ()

void	enableBufferFullInterrupt ()

void	disableBufferFullInterrupt ()

void	enableBuffer ()

void	disableBuffer ()

void	bufferInit (uint samples, KX122_RES_T res, KX122_BUFFER_MODE_T mode)

void	setBufferResolution (KX122_RES_T res)

void	setBufferThreshold (uint samples)

void	setBufferMode (KX122_BUFFER_MODE_T mode)

uint	getBufferStatus ()

std::vector< float >	getRawBufferSamples (uint len)

std::vector< float >	getBufferSamples (uint len)

void	clearBuffer ()

Constructor & Destructor Documentation

KX122	(	int	bus,
		int	addr,
		int	chip_select,
		int	spi_bus_frequency = `DEFAULT_SPI_FREQUENCY`
	)

KX122 constructor Set addr to -1 if using SPI. When using I2C, set chip_select_pin to -1

If no errors occur, the device gets initialized with default values and gets set to active state.

Parameters

bus	I2C or SPI bus to use.
addr	I2C address of the sensor.
chip_select	Chip select pin for SPI.
spi_bus_frequency	Speed of the SPI communication bus in Hz.

Exceptions

std::runtime_error on initialization failure.

~KX122 ( )

KX122 destructor

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Member Function Documentation

void deviceInit	(	KX122_ODR_T	odr,
		KX122_RES_T	res,
		KX122_RANGE_T	grange
	)

Initializes the sensor with given sampling rate, resolution and acceleration range. This gets called in the constructor, so it will not need to be called unless the device is reset.

Sensor is automatically set into standby mode during the initialization. Sensor is set to active mode after initialization.

Parameters

odr	One of the KX122_ODR_T values.
res	One of the KX122_RES_T values.
grange	One of the KX122_RANGE_T values.

Exceptions

std::runtime_error on failure.

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float getSamplePeriod ( )

Gets the length of one sample period depending on the sampling rate of the sensor.

Returns: Floating point value of the sampling period, or if error occurs returns -1.

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uint8_t getWhoAmI ( )

Gets who am i value of the sensor.

Returns: Who am I value of the sensor.

Exceptions

std::runtime_error on failure.

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void getRawAccelerationData	(	float *	x,
		float *	y,
		float *	z
	)

Gets raw accelerometer data from the sensor.

Parameters

x	Pointer to a floating point variable to store the x-axis value. Can be set to NULL if not wanted.
y	Pointer to a floating point variable to store the y-axis value. Can be set to NULL if not wanted.
z	Pointer to a floating point variable to store the z-axis value. Can be set to NULL if not wanted.

Exceptions

std::runtime_error on failure.

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void getAccelerationData	(	float *	x,
		float *	y,
		float *	z
	)

Gets converted (m/s^2) accelerometer data from the sensor.

Parameters

x	Pointer to a floating point variable to store the x-axis value. Can be set to NULL if not wanted.
y	Pointer to a floating point variable to store the y-axis value. Can be set to NULL if not wanted.
z	Pointer to a floating point variable to store the z-axis value. Can be set to NULL if not wanted.

Exceptions

std::runtime_error on failure.

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std::vector< float > getAccelerationDataVector ( )

Gets converted (m/s^2) accelerometer data from the sensor.

Returns: Acceleration vector [X, Y, Z]

Exceptions

std::runtime_error on failure.

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void softwareReset ( )

Performs a sensor software reset. The software reset clears the RAM of the sensor and resets all registers to pre-defined values.

You should call deviceInit() after the software reset.

See the datasheet for more details.

Exceptions

std::runtime_error on failure.

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void enableIIR ( )

Enables sensor filter bypass.

Sensor needs to be in standby mode when enabling the filter bypass.

Exceptions

std::runtime_error on failure.

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void disableIIR ( )

Disables sensor filter bypass.

Sensor needs to be in standby mode when enabling the filter bypass.

Exceptions

std::runtime_error on failure.

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void selfTest ( )

Performs a self-test of the sensor. The test applies an electrostatic force to the sensor, simulating input acceleration. The test compares samples from all axis before and after applying the electrostatic force to the sensor. If the amount of acceleration increases according to the values defined in TABLE 1 of the datasheet, the test passes.

The function prints out the minimum, maximum and values calculated during the test for each axis, and the result of the test for each axis.

See the datasheet for more information.

Exceptions

std::runtime_error on failure.

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void setSensorStandby ( )

Sets the sensor to the standby mode.

Exceptions

std::runtime_error on failure.

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void setSensorActive ( )

Sets the sensor to the active mode.

Exceptions

std::runtime_error on failure.

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void setODR ( KX122_ODR_T odr )

Sets the ODR of the sensor.

Sensor needs to be in standby mode when setting the ODR.

Parameters

odr	One of the KX122_ODR_T values.

Exceptions

std::runtime_error on failure.

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void setGrange ( KX122_RANGE_T grange )

Sets the acceleration range of the sensor.

Sensor needs to be in standby mode when setting the acceleration range value.

Parameters

grange One of the KX122_RANGE_T values.

Exceptions

std::runtime_error on failure.

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void setResolution ( KX122_RES_T res )

Sets the resolution of the sensor. High resolution (16 bits) or low resolution (8 bits).

Sensor needs to be in standby mode when setting the sensor resolution.

When sensor is set to low resolution mode, the sensor runs in low power mode, which in turn enables features such as averaging.(setAverage()).

Parameters

res	One of the KX122_RES_T values.

Exceptions

std::runtime_error on failure.

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void setBW ( LPRO_STATE_T lpro )

Sets the low pass filter roll off

Sensor needs to be in standby mode when setting the filter roll off value.

Parameters

lpro	One of the LPRO_STATE_T values.

Exceptions

std::runtime_error on failure.

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void setAverage ( KX122_AVG_T avg )

Set the amount of samples to be averaged in low power mode.

Sensor needs to be in standby mode when setting the average value.

Parameters

avg	One of the KX122_AVG_T values.

Exceptions

std::runtime_error on failure.

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void installISR	(	mraa::Edge	edge,
		KX122_INTERRUPT_PIN_T	intp,
		int	pin,
		void()(void )	isr,
		void *	arg
	)

Installs an interrupt handler to be executed when an interrupt is detected on the interrupt pin.

Parameters

edge	One of the mraa::Edge values. Interrupt trigger edge.
intp	One of the KX122_INTERRUPT_PIN_T values. Specifies which interrupt pin you are setting.
pin	The GPIO pin to use as the interrupt pin.
isr	Pointer to the function to be called, when the interrupt occurs.
arg	The arguments to be passed to the function.

Exceptions

std::runtime_error on failure.

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void uninstallISR ( KX122_INTERRUPT_PIN_T intp )

Uninstalls a previously installed interrupt handler.

Parameters

intp	One of the KX122_INTERRUPT_PIN_T values. Specifies which interrupt pin handler is uninstalled.

Exceptions

std::runtime_error on failure.

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void enableInterrupt1 ( KX122_INTERRUPT_POLARITY_T polarity )

Enables interrupts on the interrupt pin 1 of the sensor.

Pulse width = 50us (10us if data sampling rate > 1600Hz). Using pulse mode.

Sensor needs to be in standby mode when enabling the interrupt.

See datasheet for more details.

Parameters

polarity One of the KX122_INTERRUPT_POLARITY_T values. Select the polarity of the interrupt.

Exceptions

std::runtime_error on failure.

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void enableInterrupt2 ( KX122_INTERRUPT_POLARITY_T polarity )

Enables interrupts on the interrupt pin 2 of the sensor.

Pulse width = 50us (10us if data sampling rate > 1600Hz). Using pulse mode.

Sensor needs to be in standby mode when enabling the interrupt.

See datasheet for more details.

Parameters

polarity One of the KX122_INTERRUPT_POLARITY_T values. Select the polarity of the interrupt.

Exceptions

std::runtime_error on failure.

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void disableInterrupt1 ( )

Disables interrupts on the interrupt pin 1 of the sensor.

Sensor needs to be in standby mode when disabling the interrupt pin 1.

Exceptions

std::runtime_error on failure.

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void disableInterrupt2 ( )

Disables interrupts on the interrupt pin 2 of the sensor.

Sensor needs to be in standby mode when disabling the interrupt pin 2.

Exceptions

std::runtime_error on failure.

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void routeInterrupt1 ( uint8_t bits )

Routes the interrupts to the interrupt pin 1 of the sensor.

Sensor needs to be in standby mode when routing the interrupts.

See datasheet for more details.

Parameters

bits	One or more of the KX122_INTERRUPT_T values. Combine with bitwise OR (\|)

Exceptions

std::runtime_error on failure.

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void routeInterrupt2 ( uint8_t bits )

Routes the interrupts to the interrupt pin 2 of the sensor.

Sensor needs to be in standby mode when routing the interrupts.

See datasheet for more details.

Parameters

bits	One or more of the KX122_INTERRUPT_T values. Combine with bitwise OR (\|)

Exceptions

std::runtime_error on failure.

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bool getInterruptStatus ( )

Gets the status of the interrupts. (Has an interrupt occurred)

See datasheet for more details.

Returns: Return true if an interrupt event has occurred, returns false if no interrupts have occurred.

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uint8_t getInterruptSource ( )

Gets the source of the interrupt.

The value stored is one or more of the KX122_INTERRUPT_T values, depending on the interrupts that have occurred.

If multiple interrupts have occurred, and you need to determine a specific interrupt, you can use masking to get the state of the specific interrupt: (int_source & KX122_DATA_READY_INT) == KX122_DATA_READY_INT)

See datasheet for more details.

Returns: Interrupt source value.

Exceptions

std::runtime_error on failure.

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void clearInterrupt ( )

Clears latching interrupts (Wakeup, Data Ready).

See datasheet for more details.

Exceptions

std::runtime_error on failure.

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void enableDataReadyInterrupt ( )

Enables the data ready interrupt. Availability of new acceleration data is reflected as an interrupt.

Sensor needs to be in standby mode when enabling the interrupt.

Exceptions

std::runtime_error on failure.

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void disableDataReadyInterrupt ( )

Disables the data ready interrupt.

Sensor needs to be in standby mode when disabling the interrupt.

Exceptions

std::runtime_error on failure.

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void enableBufferFullInterrupt ( )

Enables the buffer full interrupt. Buffer can hold 681 sets of values (8 bit, low resolution mode) or 340 sets of values (16 bit, high resolution mode).

Sensor needs to be in standby mode when enabling the interrupt.

Exceptions

std::runtime_error on failure.

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void disableBufferFullInterrupt ( )

Disables the buffer full interrupt.

Sensor needs to be in standby mode when disabling the interrupt.

Exceptions

std::runtime_error on failure.

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void enableBuffer ( )

Enables the buffer.

Sensor needs to be in standby mode when enabling the buffer.

Exceptions

std::runtime_error on failure.

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void disableBuffer ( )

Disables the buffer.

Sensor needs to be in standby mode when disabling the buffer.

Exceptions

std::runtime_error on failure.

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void bufferInit	(	uint	samples,
		KX122_RES_T	res,
		KX122_BUFFER_MODE_T	mode
	)

Initializes the buffer with the given sample watermark level, buffer resolution and buffer operating mode. Buffer is enabled after the initialization.

Sensor is automatically set into standby mode during the buffer initialization. Sensor is set to active mode after initialization.

See the other buffer functions for details about the different parameter values.

Parameters

samples	Amount of samples to trigger the watermark interrupt.
res	One of the KX122_RES_T values.
mode	One of the KX122_BUFFER_MODE_T values.

Exceptions

std::runtime_error on failure.

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void setBufferResolution ( KX122_RES_T res )

Sets the buffer resolution. Buffer resolution is independent of the sensor resolution.

Sensor needs to be in standby mode when setting the buffer resolution.

Exceptions

std::runtime_error on failure.

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void setBufferThreshold ( uint samples )

Sets the buffer watermark interrupt threshold. When the buffer sample count reaches the watermark, watermark interrupt will be given.

In low resolution mode, maximum number of samples is 681. In high resolution, the maximum number is 340.

See datasheet for more details.

Sensor needs to be in standby mode when setting the buffer threshold.

Parameters

samples Amount of samples to trigger the watermark interrupt.

Exceptions

std::runtime_error on failure.

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void setBufferMode ( KX122_BUFFER_MODE_T mode )

Sets the buffer operating mode. The buffer can operate in FIFO,FILO or Stream mode. The buffer gathers data, reports data and interacts with the status indicators in a slightly different way depending on the operating mode.

See datasheet for more details.

Sensor needs to be in standby mode when setting the buffer mode.

Parameters

mode	One of the KX122_BUFFER_MODE_T values.

Exceptions

std::runtime_error on failure.

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uint getBufferStatus ( )

Gets the current amount of samples in the buffer.

Returns: number of samples in the buffer.

Exceptions

std::runtime_error on failure.

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std::vector< float > getRawBufferSamples ( uint len )

Gets the specified amount of raw acceleration samples from the buffer.

Parameters

len	The amount of samples to read from the buffer.

Returns: vector containing x, y & z-axis data

Exceptions

std::runtime_error on failure.

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std::vector< float > getBufferSamples ( uint len )

Gets the specified amount of converted (m/s^2) acceleration samples from the buffer.

Parameters

len	The amount of samples to read from the buffer.

Returns: vector containing x, y & z-axis data

Exceptions

std::runtime_error on failure.

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void clearBuffer ( )

Clears the buffer, removing all existing samples from the buffer.

Exceptions

std::runtime_error on failure.

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The documentation for this class was generated from the following files:

src/kx122/kx122.hpp
src/kx122/kx122.cxx

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation