1 /* 2 * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha (at) 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 <mraa/i2c.hpp> 28 29 #define ADDR 0x1D // device address 30 31 // Register names according to the datasheet. 32 // Register 0x1C is sometimes called 'PW', and sometimes 'PD'. 33 // The two reserved registers cannot be used. 34 #define MMA7455_XOUTL 0x00 // Read only, Output Value X LSB 35 #define MMA7455_XOUTH 0x01 // Read only, Output Value X MSB 36 #define MMA7455_YOUTL 0x02 // Read only, Output Value Y LSB 37 #define MMA7455_YOUTH 0x03 // Read only, Output Value Y MSB 38 #define MMA7455_ZOUTL 0x04 // Read only, Output Value Z LSB 39 #define MMA7455_ZOUTH 0x05 // Read only, Output Value Z MSB 40 #define MMA7455_XOUT8 0x06 // Read only, Output Value X 8 bits 41 #define MMA7455_YOUT8 0x07 // Read only, Output Value Y 8 bits 42 #define MMA7455_ZOUT8 0x08 // Read only, Output Value Z 8 bits 43 #define MMA7455_STATUS 0x09 // Read only, Status Register 44 #define MMA7455_DETSRC 0x0A // Read only, Detection Source Register 45 #define MMA7455_TOUT 0x0B // Temperature Output Value (Optional) 46 #define MMA7455_RESERVED1 0x0C // Reserved 47 #define MMA7455_I2CAD 0x0D // Read/Write, I2C Device Address 48 #define MMA7455_USRINF 0x0E // Read only, User Information (Optional) 49 #define MMA7455_WHOAMI 0x0F // Read only, "Who am I" value (Optional) 50 #define MMA7455_XOFFL 0x10 // Read/Write, Offset Drift X LSB 51 #define MMA7455_XOFFH 0x11 // Read/Write, Offset Drift X MSB 52 #define MMA7455_YOFFL 0x12 // Read/Write, Offset Drift Y LSB 53 #define MMA7455_YOFFH 0x13 // Read/Write, Offset Drift Y MSB 54 #define MMA7455_ZOFFL 0x14 // Read/Write, Offset Drift Z LSB 55 #define MMA7455_ZOFFH 0x15 // Read/Write, Offset Drift Z MSB 56 #define MMA7455_MCTL 0x16 // Read/Write, Mode Control Register 57 #define MMA7455_INTRST 0x17 // Read/Write, Interrupt Latch Reset 58 #define MMA7455_CTL1 0x18 // Read/Write, Control 1 Register 59 #define MMA7455_CTL2 0x19 // Read/Write, Control 2 Register 60 #define MMA7455_LDTH 0x1A // Read/Write, Level Detection Threshold Limit Value 61 #define MMA7455_PDTH 0x1B // Read/Write, Pulse Detection Threshold Limit Value 62 #define MMA7455_PD 0x1C // Read/Write, Pulse Duration Value 63 #define MMA7455_LT 0x1D // Read/Write, Latency Time Value (between pulses) 64 #define MMA7455_TW 0x1E // Read/Write, Time Window for Second Pulse Value 65 #define MMA7455_RESERVED2 0x1F // Reserved 66 67 // Defines for the bits to be able to change 68 // between the bit number and the binary definition. 69 // By using the bit number, programming MMA7455 70 // is like programming an AVR microcontroller. 71 // But instead of using "(1<<X)", or "_BV(X)", 72 // the Arduino "bit(X)" is used. 73 #define MMA7455_D0 0 74 #define MMA7455_D1 1 75 #define MMA7455_D2 2 76 #define MMA7455_D3 3 77 #define MMA7455_D4 4 78 #define MMA7455_D5 5 79 #define MMA7455_D6 6 80 #define MMA7455_D7 7 81 82 // Status Register 83 #define MMA7455_DRDY MMA7455_D0 84 #define MMA7455_DOVR MMA7455_D1 85 #define MMA7455_PERR MMA7455_D2 86 87 // Mode Control Register 88 #define MMA7455_MODE0 MMA7455_D0 89 #define MMA7455_MODE1 MMA7455_D1 90 #define MMA7455_GLVL0 MMA7455_D2 91 #define MMA7455_GLVL1 MMA7455_D3 92 #define MMA7455_STON MMA7455_D4 93 #define MMA7455_SPI3W MMA7455_D5 94 #define MMA7455_DRPD MMA7455_D6 95 96 // Control 1 Register 97 #define MMA7455_INTPIN MMA7455_D0 98 #define MMA7455_INTREG0 MMA7455_D1 99 #define MMA7455_INTREG1 MMA7455_D2 100 #define MMA7455_XDA MMA7455_D3 101 #define MMA7455_YDA MMA7455_D4 102 #define MMA7455_ZDA MMA7455_D5 103 #define MMA7455_THOPT MMA7455_D6 104 #define MMA7455_DFBW MMA7455_D7 105 106 // Control 2 Register 107 #define MMA7455_LDPL MMA7455_D0 108 #define MMA7455_PDPL MMA7455_D1 109 #define MMA7455_DRVO MMA7455_D2 110 111 // Interrupt Latch Reset Register 112 #define MMA7455_CLR_INT1 MMA7455_D0 113 #define MMA7455_CLR_INT2 MMA7455_D1 114 115 // Detection Source Register 116 #define MMA7455_INT1 MMA7455_D0 117 #define MMA7455_INT2 MMA7455_D1 118 #define MMA7455_PDZ MMA7455_D2 119 #define MMA7455_PDY MMA7455_D3 120 #define MMA7455_PDX MMA7455_D4 121 #define MMA7455_LDZ MMA7455_D5 122 #define MMA7455_LDY MMA7455_D6 123 #define MMA7455_LDX MMA7455_D7 124 125 // I2C Device Address Register 126 #define MMA7455_I2CDIS MMA7455_D7 127 128 #define HIGH 1 129 #define LOW 0 130 131 namespace upm { 132 133 typedef union { 134 struct { 135 unsigned char x_lsb; 136 unsigned char x_msb; 137 unsigned char y_lsb; 138 unsigned char y_msb; 139 unsigned char z_lsb; 140 unsigned char z_msb; 141 } reg; 142 143 struct { 144 short x; 145 short y; 146 short z; 147 } value; 148 } accelData; 149 150 #define BIT(n) (1<<n) 151 152 /** 153 * @brief MMA7455 Accelerometer library 154 * @defgroup mma7455 libupm-mma7455 155 * @ingroup generic i2c accelerometer 156 */ 157 /** 158 * @library mma7455 159 * @sensor mma7455 160 * @comname MMA7455 Accelerometer Sensor 161 * @type accelerometer 162 * @man generic 163 * @con i2c 164 * 165 * @brief API for the MMA7455 Accelerometer 166 * 167 * This module defines the MMA7455 interface for libmma7455 168 * 169 * @image html mma7455.jpg 170 * @snippet mma7455.cxx Interesting 171 */ 172 class MMA7455 { 173 public: 174 /** 175 * Instantiates an MMA7455 object 176 * 177 * @param bus Number of the used bus 178 * @param devAddr Address of the used I2C device 179 */ 180 MMA7455 (int bus=0, int devAddr=0x1D); 181 182 /** 183 * Returns the name of the component 184 * 185 * @return Name of the component 186 */ 187 std::string name() 188 { 189 return m_name; 190 } 191 192 /** 193 * Calibrates the sensor 194 * 195 * @return 0 (MRAA_SUCCESS) if successful; non-zero otherwise 196 */ 197 mraa::Result calibrate (); 198 199 /** 200 * Reads X-axis, Y-axis, and Z-axis acceleration data 201 * 202 * @param ptrX X-axis 203 * @param ptrY Y-axis 204 * @param ptrZ Z-axis 205 * 206 * @return 0 (MRAA_SUCCESS) if successful; non-zero otherwise 207 */ 208 mraa::Result readData (short * ptrX, short * ptrY, short * ptrZ); 209 210 #ifdef SWIGJAVA 211 /** 212 * Reads X-axis, Y-axis, and Z-axis acceleration data 213 * 214 * @return Array containing X, Y, Z acceleration data 215 */ 216 short *readData (); 217 #endif 218 /** 219 * Internal function for reading I2C data 220 * 221 * @param reg Register address 222 * @param buffer Register data buffer 223 * @param len Buffer size 224 */ 225 int i2cReadReg (unsigned char reg, uint8_t *buffer, int len); 226 227 /** 228 * Internal function for writing I2C data 229 * 230 * @param reg Register address 231 * @param buffer Register data buffer 232 * @param len Buffer size 233 */ 234 mraa::Result i2cWriteReg (unsigned char reg, uint8_t *buffer, int len); 235 236 private: 237 std::string m_name; 238 int m_controlAddr; 239 int m_bus; 240 mraa::I2c m_i2ControlCtx; 241 }; 242 243 } 244
