kx122.h

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/*
* The MIT License (MIT)
*
* Author: Samuli Rissanen <samuli.rissanen@hotmail.com>
* Copyright (c) 2018 Rohm Semiconductor.
*
* 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

#ifdef __cplusplus
extern "C"{
#endif

#include <assert.h>
#include <unistd.h>
#include <math.h>
#include <sys/types.h>

#include <mraa/i2c.h>
#include <mraa/spi.h>
#include <mraa/gpio.h>

#include <upm.h>

#include "kx122_registers.h"

//Frequency of the SPI connection
#define DEFAULT_SPI_FREQUENCY 10000

//Default slave addresses for the sensor
#define KX122_DEFAULT_SLAVE_ADDR_1 0x1F
#define KX122_DEFAULT_SLAVE_ADDR_2 0x1E

//Microseconds in a second
#define MICRO_S 1000000

//Sensor ODR values
typedef enum{
  KX122_ODR_12P5 = KX122_ODCNTL_OSA_12P5,
  KX122_ODR_25 = KX122_ODCNTL_OSA_25,
  KX122_ODR_50 = KX122_ODCNTL_OSA_50,
  KX122_ODR_100 = KX122_ODCNTL_OSA_100,
  KX122_ODR_200 = KX122_ODCNTL_OSA_200,
  KX122_ODR_400 = KX122_ODCNTL_OSA_400,
  KX122_ODR_800 = KX122_ODCNTL_OSA_800,
  KX122_ODR_1600 = KX122_ODCNTL_OSA_1600,
  KX122_ODR_0P781 = KX122_ODCNTL_OSA_0P781,
  KX122_ODR_1P563 = KX122_ODCNTL_OSA_1P563,
  KX122_ODR_3P125 = KX122_ODCNTL_OSA_3P125,
  KX122_ODR_6P25 = KX122_ODCNTL_OSA_6P25,
  KX122_ODR_3200 = KX122_ODCNTL_OSA_3200,
  KX122_ODR_6400 = KX122_ODCNTL_OSA_6400,
  KX122_ODR_12800 = KX122_ODCNTL_OSA_12800,
  KX122_ODR_25600 = KX122_ODCNTL_OSA_25600
} KX122_ODR_T;

//Sensor average values
typedef enum{
  KX122_NO_AVG = KX122_LP_CNTL_AVC_NO_AVG,
  KX122_2_SAMPLE_AVG = KX122_LP_CNTL_AVC_2_SAMPLE_AVG,
  KX122_4_SAMPLE_AVG = KX122_LP_CNTL_AVC_4_SAMPLE_AVG,
  KX122_8_SAMPLE_AVG = KX122_LP_CNTL_AVC_8_SAMPLE_AVG,
  KX122_16_SAMPLE_AVG = KX122_LP_CNTL_AVC_16_SAMPLE_AVG,
  KX122_32_SAMPLE_AVG = KX122_LP_CNTL_AVC_32_SAMPLE_AVG,
  KX122_64_SAMPLE_AVG = KX122_LP_CNTL_AVC_64_SAMPLE_AVG,
  KX122_128_SAMPLE_AVG = KX122_LP_CNTL_AVC_128_SAMPLE_AVG
} KX122_AVG_T;

//Sensor range values
typedef enum{
  KX122_RANGE_2G = KX122_CNTL1_GSEL_2G,
  KX122_RANGE_4G = KX122_CNTL1_GSEL_4G,
  KX122_RANGE_8G = KX122_CNTL1_GSEL_8G
} KX122_RANGE_T;

//Sensor buffer modes
typedef enum{
  KX122_FIFO_MODE = KX122_BUF_CNTL2_BUF_M_FIFO,
  KX122_FILO_MODE = KX122_BUF_CNTL2_BUF_M_FILO,
  KX122_STREAM_MODE = KX122_BUF_CNTL2_BUF_M_STREAM,
} KX122_BUFFER_MODE_T;

//Sensor interrupt types
typedef enum{
  KX122_BUF_FULL_INT = KX122_INC4_BFI1,
  KX122_WATERMARK_INT = KX122_INC4_WMI1,
  KX122_DATA_READY_INT = KX122_INC4_DRDYI1
} KX122_INTERRUPT_T;

//High and low resolution modes
typedef enum{
  HIGH_RES,
  LOW_RES
} KX122_RES_T;

//Sensor low-pass filter roll of values
typedef enum{
  ODR_9,
  ODR_2
} LPRO_STATE_T;

//Interrupt pins
typedef enum{
  INT1,
  INT2
}KX122_INTERRUPT_PIN_T;

//Interrupt polarity
typedef enum{
  ACTIVE_LOW,
  ACTIVE_HIGH
} KX122_INTERRUPT_POLARITY_T;

//Device context
typedef struct _kx122_context {
  mraa_i2c_context i2c;
  mraa_spi_context spi;
  mraa_gpio_context gpio1; //Interrupt pin 1
  mraa_gpio_context gpio2; //Interrupt pin 2
  mraa_gpio_context chip_select; //Chip select pin (SPI)

  float accel_scale; //Acceleration scaling
  KX122_RES_T res_mode; //Sensor resolution
  KX122_RANGE_T grange_mode; //Sensor range

  float buffer_accel_scale; //Buffer acceleration scaling
  KX122_BUFFER_MODE_T buffer_mode; //Buffer mode
  KX122_RES_T buffer_res; //Buffer resolution

  bool using_spi;

} *kx122_context;

//Struct for ODR values and their decimal counterparts.
typedef struct _odr_item{
  uint8_t odr_value;
  float odr_decimal;
} odr_item;

kx122_context kx122_init(int bus, int addr, int chip_select_pin, int spi_bus_frequency);

void kx122_close(kx122_context dev);


upm_result_t kx122_device_init(const kx122_context dev, KX122_ODR_T odr, KX122_RES_T res, KX122_RANGE_T grange);

float kx122_get_sample_period(const kx122_context dev);

upm_result_t kx122_get_who_am_i(const kx122_context dev, uint8_t *data);

upm_result_t kx122_get_acceleration_data_raw(const kx122_context dev, float *x, float *y, float *z);

upm_result_t kx122_get_acceleration_data(const kx122_context dev, float *x, float *y, float *z);

upm_result_t kx122_sensor_software_reset(const kx122_context dev);

upm_result_t kx122_enable_iir(const kx122_context dev);

upm_result_t kx122_disable_iir(const kx122_context dev);

upm_result_t kx122_self_test(const kx122_context dev);

upm_result_t kx122_set_sensor_standby(const kx122_context dev);

upm_result_t kx122_set_sensor_active(const kx122_context dev);

upm_result_t kx122_set_odr(const kx122_context dev, KX122_ODR_T odr);

upm_result_t kx122_set_grange(const kx122_context dev, KX122_RANGE_T grange);

upm_result_t kx122_set_resolution(const kx122_context dev, KX122_RES_T res);

upm_result_t kx122_set_bw(const kx122_context dev, LPRO_STATE_T lpro);

upm_result_t kx122_set_average(const kx122_context dev, KX122_AVG_T avg);

upm_result_t kx122_install_isr(const kx122_context dev, mraa_gpio_edge_t edge,KX122_INTERRUPT_PIN_T intp, int pin,void (*isr)(void *), void *arg);

void kx122_uninstall_isr(const kx122_context dev, KX122_INTERRUPT_PIN_T intp);

upm_result_t kx122_enable_interrupt1(const kx122_context dev, KX122_INTERRUPT_POLARITY_T polarity);

upm_result_t kx122_enable_interrupt2(const kx122_context dev, KX122_INTERRUPT_POLARITY_T polarity);

upm_result_t kx122_disable_interrupt1(const kx122_context dev);

upm_result_t kx122_disable_interrupt2(const kx122_context dev);

upm_result_t kx122_route_interrupt1(const kx122_context dev, uint8_t bits);

upm_result_t kx122_route_interrupt2(const kx122_context dev, uint8_t bits);

bool kx122_get_interrupt_status(const kx122_context dev);

upm_result_t kx122_get_interrupt_source(const kx122_context dev, uint8_t *data);

upm_result_t kx122_clear_interrupt(const kx122_context dev);

upm_result_t kx122_enable_data_ready_interrupt(const kx122_context dev);

upm_result_t kx122_disable_data_ready_interrupt(const kx122_context dev);

upm_result_t kx122_enable_buffer_full_interrupt(const kx122_context dev);

upm_result_t kx122_disable_buffer_full_interrupt(const kx122_context dev);

upm_result_t kx122_enable_buffer(const kx122_context dev);

upm_result_t kx122_disable_buffer(const kx122_context dev);

upm_result_t kx122_buffer_init(const kx122_context dev, uint samples, KX122_RES_T res, KX122_BUFFER_MODE_T mode);

upm_result_t kx122_set_buffer_resolution(const kx122_context dev, KX122_RES_T res);

upm_result_t kx122_set_buffer_threshold(const kx122_context dev, uint samples);

upm_result_t kx122_set_buffer_mode(const kx122_context dev, KX122_BUFFER_MODE_T mode);

upm_result_t kx122_get_buffer_status(const kx122_context dev, uint *samples);

upm_result_t kx122_read_buffer_samples_raw(const kx122_context dev, uint len, float *x_array, float *y_array, float *z_array);

upm_result_t kx122_read_buffer_samples(const kx122_context dev, uint len, float *x_array, float *y_array, float *z_array);

upm_result_t kx122_clear_buffer(const kx122_context dev);

#ifdef __cplusplus
}
#endif