Public Member Functions
	KXTJ3 (int bus, uint8_t addr=0x0f)
	KXTJ3 constructor. More...

virtual	~KXTJ3 ()
	KXTJ3 destructor. More...

void	SensorInit (KXTJ3_ODR_T odr, KXTJ3_RESOLUTION_T resolution, KXTJ3_G_RANGE_T g_range)
	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. More...

uint8_t	GetWhoAmI ()
	Gets "who am I" value of the sensor. More...

void	SensorActive ()
	Sets the sensor to active mode. More...

void	SensorStandby ()
	Sets the sensor to standby mode. More...

void	SetGRange (KXTJ3_G_RANGE_T g_range)
	Sets the acceleration range of the sensor. More...

void	SetResolution (KXTJ3_RESOLUTION_T resolution)
	Sets the resolution of the sensor. High resolution (14 bits and 12 bits) or low resolution (8 bits). More...

void	SetOdr (KXTJ3_ODR_T odr)
	Sets the ODR of the sensor. More...

void	SetOdrForWakeup (KXTJ3_ODR_WAKEUP_T odr)
	Sets the ODR of the wakeup function of the sensor. More...

void	SelfTestDigitalCommunication ()
	Performs a self-test for digital communication of the sensor. The test sets DCST bit in CTRL_REG2, then checks the DCST_RESP register for a 0xAA, after the register is read, its value is 0x55 and DCST bit is cleared. More...

void	SensorSelfTest ()
	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 (0.5 g), the test passes. More...

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

std::vector< float >	GetAccelerationRawVector ()

std::vector< float >	GetAccelerationVector ()

float	GetAccelerationSamplePeriod ()
	Gets the duration of one sample period (in seconds) for getting the acceleration data depending on the sampling rate of the sensor. More...

float	GetWakeUpSamplePeriod ()
	Gets the duration of one sample period (in seconds) for the wakeup function depending on the sampling rate of the sensor wakeup function. More...

void	EnableDataReadyInterrupt ()
	Enables the data ready interrupt. Availability of new acceleration data is reflected as an interrupt. More...

void	DisableDataReadyInterrupt ()
	Disables the data ready interrupt. More...

void	EnableWakeUpInterrupt ()
	Enables the wakeup function (motion detection) More...

void	DisableWakeUpInterrupt ()
	Disables the wakeup function (motion detection) More...

void	EnableInterruptPin (KXTJ3_INTERRUPT_POLARITY_T polarity, KXTJ3_INTERRUPT_RESPONSE_T response_type)
	Enables interrupts on the interrupt pin, sets polarity and response types. Polarity ACTIVE_HIGH or ACTIVE_LOW. Response either latch until cleared by reading INT_REL register, or transmit one pulse Pulse width of 0.03-0.05ms. More...

void	DisableInterruptPin ()
	Disables interrupts on the interrupt pin of the sensor. More...

void	SetInterruptPolarity (KXTJ3_INTERRUPT_POLARITY_T polarity)
	Sets the polarity of the interrupt pin. More...

void	SetInerruptResponse (KXTJ3_INTERRUPT_RESPONSE_T response_type)
	Sets the response type of the interrupt pin. More...

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

uint8_t	ReadInterruptSource1 ()
	Gets the source of the interrupt The value stored is one or more of the KXTJ3_INTERRUPT_SOURCE_T values. More...

KXTJ3_INTERRUPT_SOURCE_T	GetInterruptSource ()
	Gets the source of the interrupt. More...

void	InstallIsr (mraa_gpio_edge_t edge, int pin, void(isr)(void ), void *isr_args)
	Installs an interrupt handler to be executed when an interrupt is detected on the interrupt pin. More...

void	UninstallIsr ()
	Uninstalls a previously installed interrupt handler for interrupt pin. More...

void	ClearInterrupt ()
	Clears latching interrupts information of Wakeup (with axis and direction information) and Data Ready. More...

void	EnableWakeUpSingleAxisDirection (KXTJ3_WAKEUP_SOURCE_T axis)
	Enables wakeup interrupt for the given axis (axis with direction) More...

void	DisableWakeUpSingleAxisDirection (KXTJ3_WAKEUP_SOURCE_T axis)
	Disables wakeup interrupt for the given axis (axis with direction) More...

kxtj3_wakeup_axes	GetWakeUpAxisDirection ()
	Gets the source axis and direction of motion detection of the wakeup function interrupt. More...

void	EnableWakeUpLatch ()
	Enables the Unlatched mode motion interrupt (ULMODE). This mode is always by default enabled. More...

void	DisableWakeUpLatch ()
	Disables the Unlatched mode motion interrupt (ULMODE). This mode is always by default enabled. (cannot use interrupt response with pulse) More...

void	SetWakeUpMotionCounter (uint8_t count)
	Sets the timer counter of motion before sending a wakeup interrupt. More...

void	SetWakeUpMotionTime (float desired_time)
	Sets the timer of motion before sending a wakeup interrupt. More...

float	GetWakeUpMotionTime ()
	Get the current count value of the timer of motion before sending a wakeup interrupt. More...

void	SetWakeUpNonActivityCounter (uint8_t count)
	Sets the timer counter of non-activity before sending another wakeup interrupt. More...

void	SetWakeUpNonActivityTime (float desired_time)
	Sets the timer of non-activity before sending another wakeup interrupt. More...

float	GetWakeUpNonActivityTime ()
	Get the current count value of the timer of non-activity before sending another wakeup interrupt. More...

void	SetWakeUpThresholdCounter (uint16_t count)
	Sets the threshold counter for acceleration difference before sending a wakeup interrupt. More...

void	SetWakeUpThresholdGRange (float g_threshold)
	Sets the threshold g value for acceleration difference before sending a wakeup interrupt. More...

float	GetWakeUpThresholdGRange ()
	Get the current threshold difference value before sending wakeup interrupt. More...

Constructor & Destructor Documentation

KXTJ3	(	int	bus,
		uint8_t	addr = `0x0f`
	)

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

Parameters

bus	I2C bus
addr	I2C address of the sensor

Exceptions

std::runtime_error on initialization failure

~KXTJ3 ( )

virtual

Closes the I2C context, and removes interrupts Frees memory of the kxtj3_context

Exceptions

std::runtime_error on initialization failure

Member Function Documentation

void SensorInit	(	KXTJ3_ODR_T	odr,
		KXTJ3_RESOLUTION_T	resolution,
		KXTJ3_G_RANGE_T	g_range
	)

Sensor is set to standby mode during the initialization and back to active after initialization.

Parameters

odr	One of the KXTJ3_ODR_T values
resolution	One of the KXTJ3_RESOLUTION_T values
g_range	One of the KXTJ3_G_RANGE_T values

Exceptions

std::runtime_error on failure

uint8_t GetWhoAmI ( )

Returns: Who am I value of the sensor

Exceptions

std::runtime_error on failure

void SensorActive ( )

Exceptions

std::runtime_error on failure

void SensorStandby ( )

Exceptions

std::runtime_error on failure

void SetGRange ( KXTJ3_G_RANGE_T g_range )

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

Be cautious not to set g_range to 14-bits modes with the resolution being on LOW_RES

Parameters

g_range One of the KXTJ3_G_RANGE_T values

Exceptions

std::runtime_error on failure

void SetResolution ( KXTJ3_RESOLUTION_T resolution )

LOW_RES valid only for ODR <= 200 Hz

Be cautious not to set resolution to LOW_RES with the G_RANG being on 14-bits modes

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

Parameters

resolution One of the KXTJ3_RESOLUTION_T values

Exceptions

std::runtime_error on failure

void SetOdr ( KXTJ3_ODR_T odr )

Sensor needs to be in standby mode when setting the ODR

Parameters

odr	One of the KXTJ3_ODR_T values

Exceptions

std::runtime_error on failure

void SetOdrForWakeup ( KXTJ3_ODR_WAKEUP_T odr )

Sensor needs to be in standby mode when setting the ODR

Parameters

odr	One of the KXTJ3_ODR_WAKEUP_T values

Exceptions

std::runtime_error on failure

void SelfTestDigitalCommunication ( )

This method is called by SensorSelfTest also

Sensor must be in standby mode before performing this action

Exceptions

std::runtime_error on failure

void SensorSelfTest ( )

The method prints out the values before and during test and the average difference for each axis

See the datasheet for more information

Exceptions

std::runtime_error on failure

void SensorSoftwareReset ( )

You should call kxtj3_sensor_init() after the software reset

See the datasheet for more details

Exceptions

std::runtime_error on failure

std::vector< float > GetAccelerationRawVector ( )

Gets raw acceleration data from the sensor.

Returns: Acceleration vector [x, y, z]

Exceptions

std::runtime_error on failure.

std::vector< float > GetAccelerationVector ( )

Gets acceleration data in (m/s^2) from the sensor.

Returns: Acceleration vector [x, y, z]

Exceptions

std::runtime_error on failure.

float GetAccelerationSamplePeriod ( )

Returns: Floating point value of the sampling period

Exceptions

std::runtime_error on failure

float GetWakeUpSamplePeriod ( )

Returns: Floating point value of the sampling period

Exceptions

std::runtime_error on failure

void EnableDataReadyInterrupt ( )

Sensor must be in standby mode before performing this action

Exceptions

std::runtime_error on failure

void DisableDataReadyInterrupt ( )

Sensor must be in standby mode before performing this action

Exceptions

std::runtime_error on failure

void EnableWakeUpInterrupt ( )

Sensor must be in standby mode before performing this action

Exceptions

std::runtime_error on failure

void DisableWakeUpInterrupt ( )

Sensor must be in standby mode before performing this action

Exceptions

std::runtime_error on failure

void EnableInterruptPin	(	KXTJ3_INTERRUPT_POLARITY_T	polarity,
		KXTJ3_INTERRUPT_RESPONSE_T	response_type
	)

For Wakeup function, the response type is always latched unless set wakeup latch off Sensor needs to be in standby mode when enabling the interrupt

See datasheet for more details

Parameters

polarity	Select the polarity of the interrupt. One of the KXTJ3_INTERRUPT_POLARITY_T values.
response_type	Select the response type of the interrupt. One of the KXTJ3_INTERRUPT_RESPONSE_T values.

Exceptions

std::runtime_error on failure

void DisableInterruptPin ( )

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

Exceptions

std::runtime_error on failure

void SetInterruptPolarity ( KXTJ3_INTERRUPT_POLARITY_T polarity )

Polarity ACTIVE_HIGH or ACTIVE_LOW

Sensor must be in standby mode before performing this action

Parameters

polarity Select the polarity of the interrupt. One of the KXTJ3_INTERRUPT_POLARITY_T values.

Exceptions

std::runtime_error on failure

void SetInerruptResponse ( KXTJ3_INTERRUPT_RESPONSE_T response_type )

Response either latch until cleared by reading INT_REL register, or transmit one pulse Pulse width of 0.03-0.05ms

For Wakeup function, the response type is always latched unless set wakeup latch off

Sensor must be in standby mode before performing this action

See datasheet for more details

Parameters

response_type Select the response type of the interrupt. One of the KXTJ3_INTERRUPT_RESPONSE_T values

Exceptions

std::runtime_error on failure

bool GetInterruptStatus ( )

See datasheet for more details

Returns: Return true if an interrupt event has occurred (DRDY or WUFS is 1), returns false if no interrupts have occurred

uint8_t ReadInterruptSource1 ( )

See datasheet for more details

Returns: Value of the interrupt source register

Exceptions

std::runtime_error on failure

KXTJ3_INTERRUPT_SOURCE_T GetInterruptSource ( )

See datasheet for more details

Returns: One of the KXTJ3_INTERRUPT_SOURCE_T values/types

void InstallIsr	(	mraa_gpio_edge_t	edge,
		int	pin,
		void()(void )	isr,
		void *	isr_args
	)

Parameters

edge	One of the mraa_gpio_edge_t values. Interrupt trigger edge.
pin	The GPIO pin to use as the interrupt pin
isr	Pointer to the method to be called, when the interrupt occurs
isr_args	The arguments to be passed to the method

Returns: std::runtime_error on failure

void UninstallIsr ( )

Exceptions

std::runtime_error on failure

void ClearInterrupt ( )

See datasheet for more details

Exceptions

std::runtime_error on failure

void EnableWakeUpSingleAxisDirection ( KXTJ3_WAKEUP_SOURCE_T axis )

Sensor must be in standby mode before performing this action

Parameters

axis	The axis to enable, takes one of KXTJ3_WAKEUP_SOURCE_T value

Exceptions

std::runtime_error on failure

void DisableWakeUpSingleAxisDirection ( KXTJ3_WAKEUP_SOURCE_T axis )

Sensor must be in standby mode before performing this action

Parameters

axis	The axis to enable, takes one of KXTJ3_WAKEUP_SOURCE_T value

Exceptions

std::runtime_error on failure

kxtj3_wakeup_axes GetWakeUpAxisDirection ( )

See datasheet for more details

Returns: A kxtj3_wakeup_axes struct with values of true/false for a wakeup for each axis and its direction

void EnableWakeUpLatch ( )

When this bit is set, the wakeup interrupt has to be cleared manually (cannot use interrupt response with pulse)

Sensor must be in standby mode before performing this action

Exceptions

std::runtime_error on failure

void DisableWakeUpLatch ( )

The wakeup threshold is advised to not be very low to avoid interrupt being triggered in an almost continuous manner

Sensor must be in standby mode before performing this action

When this bit is cleared, and the interrupt response type is set to Pulse, then upon a wakeup event the wakeup interrupt signal will pulse and return low, but only once. Then, the interrupt output will not reset until data is read or interrupt cleared.

Exceptions

std::runtime_error on failure

void SetWakeUpMotionCounter ( uint8_t count )

The count is limited to values from 1 to 255

Every count is calculated as (1 / Wakeup_ODR_FREQUENCY) where Wakeup_ODR_FREQUENCY is the current odr_in_Hz value from odr_map_in_Hz_wakeup value

Sensor must be in standby mode before performing this action

See datasheet for more details

Parameters

count The timer count from 1 to 255

Exceptions

std::runtime_error on failure

void SetWakeUpMotionTime ( float desired_time )

the desired time should be such that (0 < desired_time * wakeup_odr_frequency <= 255)

Sensor must be in standby mode before performing this action

See datasheet for more details

Parameters

desired_time The desired time in seconds

Exceptions

std::runtime_error on failure

float GetWakeUpMotionTime ( )

Returns: Time value in seconds

Exceptions

std::runtime_error on failure

void SetWakeUpNonActivityCounter ( uint8_t count )

The count is limited to values from 1 to 255

Every count is calculated as (1 / Wakeup_ODR_FREQUENCY) where Wakeup_ODR_FREQUENCY is the current odr_in_Hz value from odr_map_in_Hz_wakeup value

Sensor must be in standby mode before performing this action

See datasheet for more details

Parameters

count The timer count from 1 to 255

Exceptions

std::runtime_error on failure

void SetWakeUpNonActivityTime ( float desired_time )

the desired time should be such that (0 < desired_time * wakeup_odr_frequency <= 255)

Sensor must be in standby mode before performing this action

See datasheet for more details

Parameters

desired_time The desired time in seconds

Exceptions

std::runtime_error on failure

float GetWakeUpNonActivityTime ( )

Returns: Time value in seconds

Exceptions

std::runtime_error on failure

void SetWakeUpThresholdCounter ( uint16_t count )

The count is limited to values from 1 to 4096, that it is 16g threshold with (3.9mg/count) It is advised to not set the threshold to a very low value which may cause bad behaviour in the wakeup interrupt

Sensor must be in standby mode before performing this action

See datasheet for more details

Parameters

count The timer count from 1 to 4096, that it is 16g threshold with (3.9mg/count)

Exceptions

std::runtime_error on failure

void SetWakeUpThresholdGRange ( float g_threshold )

The count is limited to values up to 16g, with steps of 3.9mg. It is advised to not set the threshold to a very low value which may cause bad behaviour in the wakeup interrupt

Sensor must be in standby mode before performing this action

See datasheet for more details

Parameters

g_threshold The acceleration threshold (in g) in g, from 3.9mg to 16g, steps of 3.9mg/count.

Exceptions

std::runtime_error on failure

float GetWakeUpThresholdGRange ( )

Returns: Threshold value in g

Exceptions

std::runtime_error on failure

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

src/kxtj3/kxtj3.hpp
src/kxtj3/kxtj3.cxx

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation