/* * Author: Jon Trulson * Copyright (c) 2015 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 #include #include #if defined(SWIGJAVA) || defined(JAVACALLBACK) #include "../IsrCallback.h" #endif #define MMA7660_I2C_BUS 0 #define MMA7660_DEFAULT_I2C_ADDR 0x4c namespace upm { /** * @brief MMA7660 I2C 3-Axis Digital Accelerometer library * @defgroup mma7660 libupm-mma7660 * @ingroup seeed i2c gpio accelerometer */ /** * @library mma7660 * @sensor mma7660 * @comname MMA7660 3-Axis Digital Accelerometer * @altname Grove 3-Axis Digital Accelerometer (1.5g) * @type accelerometer * @man seeed * @con i2c gpio * * @brief API for the MMA7660 I2C 3-Axis Digital Accelerometer * * UPM module for the MMA7660 I2C 3-axis digital accelerometer. * This device supports a variety of capabilities, including the * generation of interrupts for various conditions, tilt and basic * gesture detection, and X/Y/Z-axis measurements of g-forces * being applied (up to 1.5g) * * This module was tested with the Grove 3-Axis Digital * Accelerometer (1.5g) * * @image html mma7660.jpg * @snippet mma7660.cxx Interesting */ class MMA7660 { public: // MMA7660 registers typedef enum { REG_XOUT = 0x00, REG_YOUT = 0x01, REG_ZOUT = 0x02, REG_TILT = 0x03, REG_SRST = 0x04, // Sampling Rate Status REG_SPCNT = 0x05, // sleep count REG_INTSU = 0x06, // Interrupt setup REG_MODE = 0x07, // operating mode REG_SR = 0x08, // auto-wake/sleep, SPS, and debounce REG_PDET = 0x09, // tap detection REG_PD = 0x0a // tap debounce count // 0x0b-0x1f reserved } MMA7660_REG_T; // interrupt enable register bits typedef enum { INTR_NONE = 0x00, // disabled INTR_FBINT = 0x01, // front/back INTR_PLINT = 0x02, // up/down/right/left INTR_PDINT = 0x04, // tap detection INTR_ASINT = 0x08, // exit auto-sleep INTR_GINT = 0x10, // measurement intr INTR_SHINTZ = 0x20, // shake on Z INTR_SHINTY = 0x40, // shake on Y INTR_SHINTX = 0x80 // shake on X } MMA7660_INTR_T; // operating mode register bits typedef enum { MODE_MODE = 0x01, // determines mode with MODE_TON // 0x02 reserved MODE_TON = 0x04, // determines mode with MODE_MODE MODE_AWE = 0x08, // auto-wake MODE_ASE = 0x10, // auto-sleep MODE_SCPS = 0x20, // sleep count prescale MODE_IPP = 0x40, // intr out push-pull/open drain MODE_IAH = 0x80 // intr active low/high } MMA7660_MODE_T; // tilt BackFront (BF) bits typedef enum { BF_UNKNOWN = 0x00, BF_LYING_FRONT = 0x01, BF_LYING_BACK = 0x02 } MMA7660_TILT_BF_T; // tilt LandscapePortrait (LP) bits typedef enum { LP_UNKNOWN = 0x00, LP_LANDSCAPE_LEFT = 0x01, LP_LANDSCAPE_RIGHT = 0x02, LP_VERT_DOWN = 0x05, LP_VERT_UP = 0x06 } MMA7660_TILT_LP_T; // sample rate (auto-sleep) values typedef enum { AUTOSLEEP_120 = 0x00, AUTOSLEEP_64 = 0x01, AUTOSLEEP_32 = 0x02, AUTOSLEEP_16 = 0x03, AUTOSLEEP_8 = 0x04, AUTOSLEEP_4 = 0x05, AUTOSLEEP_2 = 0x06, AUTOSLEEP_1 = 0x07 } MMA7660_AUTOSLEEP_T; /** * MMA7660 constructor * * @param bus I2C bus to use * @param address Address for this sensor; default is 0x55 */ MMA7660(int bus, uint8_t address = MMA7660_DEFAULT_I2C_ADDR); /** * MMA7660 destructor */ ~MMA7660(); /** * Writes a byte value into a register * * @param reg Register location to write into * @param byte Byte to write * @return True if successful */ bool writeByte(uint8_t reg, uint8_t byte); /** * Reads a byte value from a register * * @param reg Register location to read from * @return Value in a specified register */ uint8_t readByte(uint8_t reg); /** * Reads the current value of conversion * * @param x Returned x value * @param y Returned y value * @param z Returned z value */ void getRawValues(int *x, int *y, int *z); #if defined(SWIGJAVA) || defined(JAVACALLBACK) /** * Reads the current value of conversion * * @return Array containing x, y, z. Free using delete. */ int *getRawValues(); #endif /** * Gets the computed acceleration * * @param ax Returned computed acceleration of the X-axis * @param ay Returned computed acceleration of the Y-axis * @param az Returned computed acceleration of the Z-axis */ void getAcceleration(float *ax, float *ay, float *az); #if defined(SWIGJAVA) || defined(JAVACALLBACK) /** * Gets the computed acceleration * * @return Array containing x, y, z. Free using delete. */ float *getAcceleration(); #endif /** * Reads an axis, verifying its validity. The value passed must * be one of REG_XOUT, REG_YOUT, or REG_ZOUT. * * @param axis Axis to read * @return Axis value */ int getVerifiedAxis(MMA7660_REG_T axis); /** * Reads the tilt register, verifying its validity * * @return Tilt value */ uint8_t getVerifiedTilt(); /** * Puts the device in the active mode. In this mode, register * writes are not allowed. Place the device in the standby mode before * attempting to write registers. * */ void setModeActive(); /** * Puts the device in the standby (power saving) mode. Note: when in * the standby mode, there is no valid data in the registers. In * addition, the only way to write a register is to put the * device in the standby mode. * */ void setModeStandby(); /** * Reads tiltBackFront bits * * The value returned is one of the MMA7660_TILT_BF_T values * * @return Bits corresponding to the BackFront tilt status */ uint8_t tiltBackFront(); /** * Reads tiltLandscapePortrait bits * * The value returned is one of the MMA7660_TILT_LP_T values * * @return Bits corresponding to the LandscapePortrait tilt status */ uint8_t tiltLandscapePortrait(); /** * Reads the tiltTap status * * @return True if a tap is detected */ bool tiltTap(); /** * Reads the tiltShake status * * @return True if a shake is detected */ bool tiltShake(); /** * Installs an interrupt service routine (ISR) to be called when * an interrupt occurs * * @param pin GPIO pin to use as the interrupt pin * @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. */ #if defined(SWIGJAVA) || defined(JAVACALLBACK) void installISR(int pin, IsrCallback *cb); #else void installISR(int pin, void (*isr)(void *), void *arg); #endif /** * Uninstalls the previously installed ISR * */ void uninstallISR(); /** * Enables interrupt generation based on passed interrupt bits. * The bits are a bitmask of the requested MMA7660_INTR_T values. * Note: the device must be in the standby mode to set this register. * * @param ibits Sets the requested interrupt bits * @return True if successful */ bool setInterruptBits(uint8_t ibits); /** * Sets the sampling rate of the sensor. The value supplied must * be one of the MMA7660_AUTOSLEEP_T values. * * @param sr One of the MMA7660_AUTOSLEEP_T values * @return True if successful */ bool setSampleRate(MMA7660_AUTOSLEEP_T sr); private: #if defined(SWIGJAVA) || defined(JAVACALLBACK) void installISR(int pin, void (*isr)(void *), void *arg); #endif bool m_isrInstalled; mraa_i2c_context m_i2c; mraa_gpio_context m_gpio; uint8_t m_addr; }; }