1 /* 2 * Author: Jon Trulson <jtrulson (at) ics.com> 3 * Copyright (c) 2015 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.h> 28 #include <mraa/gpio.h> 29 30 #if defined(SWIGJAVA) || defined(JAVACALLBACK) 31 #include "../IsrCallback.h" 32 #endif 33 34 #define MMA7660_I2C_BUS 0 35 #define MMA7660_DEFAULT_I2C_ADDR 0x4c 36 37 namespace upm { 38 39 /** 40 * @brief MMA7660 I2C 3-Axis Digital Accelerometer library 41 * @defgroup mma7660 libupm-mma7660 42 * @ingroup seeed i2c gpio accelerometer 43 */ 44 /** 45 * @library mma7660 46 * @sensor mma7660 47 * @comname MMA7660 3-Axis Digital Accelerometer 48 * @altname Grove 3-Axis Digital Accelerometer (1.5g) 49 * @type accelerometer 50 * @man seeed 51 * @con i2c gpio 52 * 53 * @brief API for the MMA7660 I2C 3-Axis Digital Accelerometer 54 * 55 * UPM module for the MMA7660 I2C 3-axis digital accelerometer. 56 * This device supports a variety of capabilities, including the 57 * generation of interrupts for various conditions, tilt and basic 58 * gesture detection, and X/Y/Z-axis measurements of g-forces 59 * being applied (up to 1.5g) 60 * 61 * This module was tested with the Grove 3-Axis Digital 62 * Accelerometer (1.5g) 63 * 64 * @image html mma7660.jpg 65 * @snippet mma7660.cxx Interesting 66 */ 67 class MMA7660 { 68 public: 69 70 // MMA7660 registers 71 typedef enum { REG_XOUT = 0x00, 72 REG_YOUT = 0x01, 73 REG_ZOUT = 0x02, 74 REG_TILT = 0x03, 75 REG_SRST = 0x04, // Sampling Rate Status 76 REG_SPCNT = 0x05, // sleep count 77 REG_INTSU = 0x06, // Interrupt setup 78 REG_MODE = 0x07, // operating mode 79 REG_SR = 0x08, // auto-wake/sleep, SPS, and debounce 80 REG_PDET = 0x09, // tap detection 81 REG_PD = 0x0a // tap debounce count 82 // 0x0b-0x1f reserved 83 } MMA7660_REG_T; 84 85 // interrupt enable register bits 86 typedef enum { INTR_NONE = 0x00, // disabled 87 INTR_FBINT = 0x01, // front/back 88 INTR_PLINT = 0x02, // up/down/right/left 89 INTR_PDINT = 0x04, // tap detection 90 INTR_ASINT = 0x08, // exit auto-sleep 91 INTR_GINT = 0x10, // measurement intr 92 INTR_SHINTZ = 0x20, // shake on Z 93 INTR_SHINTY = 0x40, // shake on Y 94 INTR_SHINTX = 0x80 // shake on X 95 } MMA7660_INTR_T; 96 97 // operating mode register bits 98 typedef enum { MODE_MODE = 0x01, // determines mode with MODE_TON 99 // 0x02 reserved 100 MODE_TON = 0x04, // determines mode with MODE_MODE 101 MODE_AWE = 0x08, // auto-wake 102 MODE_ASE = 0x10, // auto-sleep 103 MODE_SCPS = 0x20, // sleep count prescale 104 MODE_IPP = 0x40, // intr out push-pull/open drain 105 MODE_IAH = 0x80 // intr active low/high 106 } MMA7660_MODE_T; 107 108 // tilt BackFront (BF) bits 109 typedef enum { BF_UNKNOWN = 0x00, 110 BF_LYING_FRONT = 0x01, 111 BF_LYING_BACK = 0x02 112 } MMA7660_TILT_BF_T; 113 114 // tilt LandscapePortrait (LP) bits 115 typedef enum { LP_UNKNOWN = 0x00, 116 LP_LANDSCAPE_LEFT = 0x01, 117 LP_LANDSCAPE_RIGHT = 0x02, 118 LP_VERT_DOWN = 0x05, 119 LP_VERT_UP = 0x06 120 } MMA7660_TILT_LP_T; 121 122 // sample rate (auto-sleep) values 123 typedef enum { AUTOSLEEP_120 = 0x00, 124 AUTOSLEEP_64 = 0x01, 125 AUTOSLEEP_32 = 0x02, 126 AUTOSLEEP_16 = 0x03, 127 AUTOSLEEP_8 = 0x04, 128 AUTOSLEEP_4 = 0x05, 129 AUTOSLEEP_2 = 0x06, 130 AUTOSLEEP_1 = 0x07 131 } MMA7660_AUTOSLEEP_T; 132 133 /** 134 * MMA7660 constructor 135 * 136 * @param bus I2C bus to use 137 * @param address Address for this sensor; default is 0x55 138 */ 139 MMA7660(int bus, uint8_t address = MMA7660_DEFAULT_I2C_ADDR); 140 141 /** 142 * MMA7660 destructor 143 */ 144 ~MMA7660(); 145 146 /** 147 * Writes a byte value into a register 148 * 149 * @param reg Register location to write into 150 * @param byte Byte to write 151 * @return True if successful 152 */ 153 bool writeByte(uint8_t reg, uint8_t byte); 154 155 /** 156 * Reads a byte value from a register 157 * 158 * @param reg Register location to read from 159 * @return Value in a specified register 160 */ 161 uint8_t readByte(uint8_t reg); 162 163 /** 164 * Reads the current value of conversion 165 * 166 * @param x Returned x value 167 * @param y Returned y value 168 * @param z Returned z value 169 */ 170 void getRawValues(int *x, int *y, int *z); 171 172 #if defined(SWIGJAVA) || defined(JAVACALLBACK) 173 /** 174 * Reads the current value of conversion 175 * 176 * @return Array containing x, y, z. Free using delete. 177 */ 178 int *getRawValues(); 179 #endif 180 181 /** 182 * Gets the computed acceleration 183 * 184 * @param ax Returned computed acceleration of the X-axis 185 * @param ay Returned computed acceleration of the Y-axis 186 * @param az Returned computed acceleration of the Z-axis 187 */ 188 void getAcceleration(float *ax, float *ay, float *az); 189 190 #if defined(SWIGJAVA) || defined(JAVACALLBACK) 191 /** 192 * Gets the computed acceleration 193 * 194 * @return Array containing x, y, z. Free using delete. 195 */ 196 float *getAcceleration(); 197 #endif 198 199 /** 200 * Reads an axis, verifying its validity. The value passed must 201 * be one of REG_XOUT, REG_YOUT, or REG_ZOUT. 202 * 203 * @param axis Axis to read 204 * @return Axis value 205 */ 206 int getVerifiedAxis(MMA7660_REG_T axis); 207 208 /** 209 * Reads the tilt register, verifying its validity 210 * 211 * @return Tilt value 212 */ 213 uint8_t getVerifiedTilt(); 214 215 /** 216 * Puts the device in the active mode. In this mode, register 217 * writes are not allowed. Place the device in the standby mode before 218 * attempting to write registers. 219 * 220 */ 221 void setModeActive(); 222 223 /** 224 * Puts the device in the standby (power saving) mode. Note: when in 225 * the standby mode, there is no valid data in the registers. In 226 * addition, the only way to write a register is to put the 227 * device in the standby mode. 228 * 229 */ 230 void setModeStandby(); 231 232 /** 233 * Reads tiltBackFront bits 234 * 235 * The value returned is one of the MMA7660_TILT_BF_T values 236 * 237 * @return Bits corresponding to the BackFront tilt status 238 */ 239 uint8_t tiltBackFront(); 240 241 /** 242 * Reads tiltLandscapePortrait bits 243 * 244 * The value returned is one of the MMA7660_TILT_LP_T values 245 * 246 * @return Bits corresponding to the LandscapePortrait tilt status 247 */ 248 uint8_t tiltLandscapePortrait(); 249 250 /** 251 * Reads the tiltTap status 252 * 253 * @return True if a tap is detected 254 */ 255 bool tiltTap(); 256 257 /** 258 * Reads the tiltShake status 259 * 260 * @return True if a shake is detected 261 */ 262 bool tiltShake(); 263 264 /** 265 * Installs an interrupt service routine (ISR) to be called when 266 * an interrupt occurs 267 * 268 * @param pin GPIO pin to use as the interrupt pin 269 * @param fptr Pointer to a function to be called on interrupt 270 * @param arg Pointer to an object to be supplied as an 271 * argument to the ISR. 272 */ 273 #if defined(SWIGJAVA) || defined(JAVACALLBACK) 274 void installISR(int pin, IsrCallback *cb); 275 #else 276 void installISR(int pin, void (*isr)(void *), void *arg); 277 #endif 278 /** 279 * Uninstalls the previously installed ISR 280 * 281 */ 282 void uninstallISR(); 283 284 /** 285 * Enables interrupt generation based on passed interrupt bits. 286 * The bits are a bitmask of the requested MMA7660_INTR_T values. 287 * Note: the device must be in the standby mode to set this register. 288 * 289 * @param ibits Sets the requested interrupt bits 290 * @return True if successful 291 */ 292 bool setInterruptBits(uint8_t ibits); 293 294 /** 295 * Sets the sampling rate of the sensor. The value supplied must 296 * be one of the MMA7660_AUTOSLEEP_T values. 297 * 298 * @param sr One of the MMA7660_AUTOSLEEP_T values 299 * @return True if successful 300 */ 301 bool setSampleRate(MMA7660_AUTOSLEEP_T sr); 302 303 private: 304 #if defined(SWIGJAVA) || defined(JAVACALLBACK) 305 void installISR(int pin, void (*isr)(void *), void *arg); 306 #endif 307 308 bool m_isrInstalled; 309 mraa_i2c_context m_i2c; 310 mraa_gpio_context m_gpio; 311 uint8_t m_addr; 312 }; 313 } 314 315 316
