494 lines
16 KiB
C++
494 lines
16 KiB
C++
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/*
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* The MIT License (MIT)
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*
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* Author: Samuli Rissanen <samuli.rissanen@hotmail.com>
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* Copyright (c) 2018 Rohm Semiconductor.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <mraa/gpio.hpp>
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extern "C"{
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#include "kx122.h"
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}
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/**
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* @file kx122.hpp
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* @library kx122
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* @brief C++ API for the kx122 driver
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*
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* @include kx122.cxx
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*/
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namespace upm{
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class KX122{
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public:
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/**
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KX122 constructor
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Set addr to -1 if using SPI.
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When using I2C, set chip_select_pin to -1
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@param bus I2C or SPI bus to use.
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@param addr I2C address of the sensor.
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@param chip_select Chip select pin for SPI.
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@throws std::runtime_error on initialization failure.
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*/
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KX122(int bus, int addr, int chip_select);
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/**
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KX122 destructor
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*/
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~KX122();
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/**
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Initializes the sensor with given sampling rate, resolution and acceleration range.
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This gets called in the constructor, so it will not need to be called unless the device is reset.
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Sensor is automatically set into standby mode during the initialization.
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Sensor is set to active mode after initialization.
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@param odr One of the KX122_ODR_T values.
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@param res One of the KX122_RES_T values.
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@param grange One of the KX122_RANGE_T values.
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@throws std::runtime_error on failure.
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*/
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void deviceInit(KX122_ODR_T odr, KX122_RES_T res, KX122_RANGE_T grange);
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/**
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Gets the length of one sample period depeding on the sampling rate of the sensor.
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@return Floating point value of the sampling period, or if error occurs returns -1.
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*/
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float getSamplePeriod();
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/**
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Gets who am i value of the sensor.
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@param data Pointer to a uint8_t variable to store the value.
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@throws std::runtime_error on failure.
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*/
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void getWhoAmI(uint8_t *data);
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/**
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Gets raw accelerometer data from the sensor.
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@param x Pointer to a floating point variable to store the x-axis value. Can be set to NULL if not wanted.
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@param y Pointer to a floating point variable to store the y-axis value. Can be set to NULL if not wanted.
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@param z Pointer to a floating point variable to store the z-axis value. Can be set to NULL if not wanted.
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@throws std::runtime_error on failure.
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*/
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void getRawAccelerationData(float *x, float *y, float *z);
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/**
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Gets converted (m/s^2) accelerometer data from the sensor.
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@param x Pointer to a floating point variable to store the x-axis value. Can be set to NULL if not wanted.
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@param y Pointer to a floating point variable to store the y-axis value. Can be set to NULL if not wanted.
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@param z Pointer to a floating point variable to store the z-axis value. Can be set to NULL if not wanted.
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@throws std::runtime_error on failure.
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*/
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void getAccelerationData(float *x, float *y, float *z);
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/**
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Performs a sensor software reset. The software reset clears the RAM of the sensor and resets all registers
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to pre-defined values.
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You should call deviceInit() after the software reset.
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See the datasheet for more details.
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@throws std::runtime_error on failure.
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*/
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void softwareReset();
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/**
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Enables sensor filter bypass.
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Sensor needs to be in standby mode when enabling the filter bypass.
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@throws std::runtime_error on failure.
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*/
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void enableIIR();
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/**
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Disables sensor filter bypass.
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Sensor needs to be in standby mode when enabling the filter bypass.
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@throws std::runtime_error on failure.
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*/
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void disableIIR();
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/**
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Performs a self-test of the sensor. The test applies an electrostatic force to the sensor,
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simulating input acceleration. The test compares samples from all axis before and after
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applying the electrostatic force to the sensor. If the amount of acceleration increases according
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to the values defined in TABLE 1 of the datasheet, the test passes.
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See the datasheet for more information.
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@throws std::runtime_error on failure.
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*/
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void selfTest();
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/**
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Sets the sensor to the standby mode.
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@throws std::runtime_error on failure.
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*/
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void setSensorStandby();
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/**
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Sets the sensor to the active mode.
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@throws std::runtime_error on failure.
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*/
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void setSensorActive();
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/**
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Sets the data sampling rate of the sensor.
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Sensor needs to be in standby mode when setting the data sampling rate.
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@param odr One of the KX122_ODR_T values.
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@throws std::runtime_error on failure.
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*/
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void setODR(KX122_ODR_T odr);
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/**
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Sets the acceleration range of the sensor.
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Sensor needs to be in standby mode when setting the acceleration range value.
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@param grange One of the KX122_RANGE_T values.
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@throws std::runtime_error on failure.
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*/
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void setGrange(KX122_RANGE_T grange);
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/**
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Sets the resolution of the sensor. High resolution (16 bits) or low resolution (8 bits).
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Sensor needs to be in standby mode when setting the sensor resolution.
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@param res One of the KX122_RES_T values.
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@throws std::runtime_error on failure.
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*/
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void setResolution(KX122_RES_T res);
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/**
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Sets the low pass filter roll off
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Sensor needs to be in standby mode when setting the filter roll off value.
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@param lpro One of the LPRO_STATE_T values.
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@throws std::runtime_error on failure.
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*/
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void setBW(LPRO_STATE_T lpro);
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/**
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Set the amount of samples to be averaged in low power mode.
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Sensor needs to be in standby mode when setting the average value.
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@param avg One of the KX122_AVG_T values.
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@throws std::runtime_error on failure.
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*/
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void setAverage(KX122_AVG_T avg);
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/**
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Installs an interrupt handler to be executed when an interrupt is detected on the interrupt pin.
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@param edge One of the mraa::Edge values. Interrupt trigger edge.
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@param intp One of the KX122_INTERRUPT_PIN_T values. Specifies which interrupt pin you are setting.
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@param pin The GPIO pin to use as the interrupt pin.
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@param isr Pointer to the function to be called, when the interrupt occurs.
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@param arg The arguments to be passed to the function.
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@throws std::runtime_error on failure.
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*/
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void installISR(mraa::Edge edge, KX122_INTERRUPT_PIN_T intp, int pin, void (*isr)(void*), void *arg);
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/**
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Uninstalls a previously installed interrupt handler.
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@param intp One of the KX122_INTERRUPT_PIN_T values. Specifies which interrupt pin handler is uninstalled.
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@throws std::runtime_error on failure.
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*/
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void uninstallISR(KX122_INTERRUPT_PIN_T intp);
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/**
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Enables interrupts on the interrupt pin 1 of the sensor.
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Pulse width = 50us (10us if data sampling rate > 1600Hz).
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Using pulse mode.
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Sensor needs to be in standby mode when enabling the interrupt.
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See datasheet for more details.
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@param polarity One of the KX122_INTERRUPT_POLARITY_T values. Select the polarity of the interrupt.
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@throws std::runtime_error on failure.
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*/
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void enableInterrupt1(KX122_INTERRUPT_POLARITY_T polarity);
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/**
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Enables interrupts on the interrupt pin 2 of the sensor.
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Pulse width = 50us (10us if data sampling rate > 1600Hz).
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Using pulse mode.
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Sensor needs to be in standby mode when enabling the interrupt.
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See datasheet for more details.
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@param polarity One of the KX122_INTERRUPT_POLARITY_T values. Select the polarity of the interrupt.
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@throws std::runtime_error on failure.
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*/
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void enableInterrupt2(KX122_INTERRUPT_POLARITY_T polarity);
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/**
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Disables interrupts on the interrupt pin 1 of the sensor.
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Sensor needs to be in standby mode when disabling the interrupt pin 1.
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@throws std::runtime_error on failure.
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*/
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void disableInterrupt1();
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/**
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Disables interrupts on the interrupt pin 2 of the sensor.
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Sensor needs to be in standby mode when disabling the interrupt pin 2.
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@throws std::runtime_error on failure.
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*/
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void disableInterrupt2();
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/**
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Routes the interrupts to the interrupt pin 1 of the sensor.
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Sensor needs to be in standby mode when routing the interrupts.
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See datasheet for more details.
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@param bits One or more of the KX122_INTERRUPT_T values. Combine with bitwise OR (|)
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@throws std::runtime_error on failure.
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*/
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void routeInterrupt1(uint8_t bits);
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/**
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Routes the interrupts to the interrupt pin 2 of the sensor.
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Sensor needs to be in standby mode when routing the interrupts.
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See datasheet for more details.
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@param bits One or more of the KX122_INTERRUPT_T values. Combine with bitwise OR (|)
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@throws std::runtime_error on failure.
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*/
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void routeInterrupt2(uint8_t bits);
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/**
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Gets the status of the interrupts. (Has an interrupt occured)
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See datasheet for more details.
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@param data Pointer to a uint8_t variable to store the value.
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@throws std::runtime_error on failure.
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*/
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void getInterruptStatus(uint8_t *data);
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/**
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Gets the source of the interrupt.
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See datasheet for more details.
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@param data Pointer to a uint8_t variable to store the value.
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@throws std::runtime_error on failure.
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*/
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void getInterruptSource(uint8_t *data);
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/**
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Clears latching interrupts (Wakeup, Data Ready).
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See datasheet for more details.
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@throws std::runtime_error on failure.
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*/
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void clearInterrupt();
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/**
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Enables the data ready interrupt. Availability of new acceleration data is
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reflected as an interrupt.
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Sensor needs to be in standby mode when enabling the interrupt.
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@throws std::runtime_error on failure.
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*/
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void enableDataReadyInterrupt();
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/**
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Disables the data ready interrupt.
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Sensor needs to be in standby mode when disabling the interrupt.
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@throws std::runtime_error on failure.
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*/
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void disableDataReadyInterrupt();
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/**
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Enables the buffer full interrupt.
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Buffer can hold 681 sets of values (8 bit, low resolution mode) or
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340 sets of values (16 bit, high resolution mode).
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Sensor needs to be in standby mode when enabling the interrupt.
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@throws std::runtime_error on failure.
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*/
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void enableBufferFullInterrupt();
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/**
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Disables the buffer full interrupt.
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Sensor needs to be in standby mode when disabling the interrupt.
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@throws std::runtime_error on failure.
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*/
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void disableBufferFullInterrupt();
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/**
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Enables the buffer.
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Sensor needs to be in standby mode when enabling the buffer.
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@throws std::runtime_error on failure.
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*/
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void enableBuffer();
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/**
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Disables the buffer.
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Sensor needs to be in standby mode when disabling the buffer.
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@throws std::runtime_error on failure.
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*/
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void disableBuffer();
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/**
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Initializes the buffer with the given sample watermark level, buffer resolution and buffer operating mode.
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Buffer is enabled after the initialization.
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Sensor is automatically set into standby mode during the buffer initialization.
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Sensor is set to active mode after initialization.
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See the other buffer functions for details about the different parameter values.
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|
|
@param samples Amount of samples to trigger the watermark interrupt.
|
||
|
|
@param res One of the KX122_RES_T values.
|
||
|
|
@param mode One of the KX122_BUFFER_MODE_T values.
|
||
|
|
@throws std::runtime_error on failure.
|
||
|
|
*/
|
||
|
|
void bufferInit(uint samples, KX122_RES_T res, KX122_BUFFER_MODE_T mode);
|
||
|
|
|
||
|
|
/**
|
||
|
|
Sets the buffer resolution.
|
||
|
|
Buffer resolution is indepedent of the sensor resolution.
|
||
|
|
|
||
|
|
Sensor needs to be in standby mode when setting the buffer resolution.
|
||
|
|
|
||
|
|
@throws std::runtime_error on failure.
|
||
|
|
*/
|
||
|
|
void setBufferResolution(KX122_RES_T res);
|
||
|
|
|
||
|
|
/**
|
||
|
|
Sets the buffer watermark interrupt threshold.
|
||
|
|
When the buffer sample count reaches the watermark, watermark interrupt will be given.
|
||
|
|
|
||
|
|
In low resolution mode, maxiumum number of samples is 681. In high resolution, the maximum
|
||
|
|
number is 340.
|
||
|
|
|
||
|
|
See datasheet for more details.
|
||
|
|
|
||
|
|
Sensor needs to be in standby mode when setting the buffer threshold.
|
||
|
|
|
||
|
|
@param samples Amount of samples to trigger the watermark interrupt.
|
||
|
|
@throws std::runtime_error on failure.
|
||
|
|
*/
|
||
|
|
void setBufferThreshold(uint samples);
|
||
|
|
|
||
|
|
/**
|
||
|
|
Sets the buffer operating mode.
|
||
|
|
The buffer can operate in FIFO,FILO or Stream mode.
|
||
|
|
The buffer gathers data, reports data and interracts with the status indicators
|
||
|
|
in a slightly different way depending on the operating mode.
|
||
|
|
|
||
|
|
See datasheet for more details.
|
||
|
|
|
||
|
|
Sensor needs to be in standby mode when setting the buffer mode.
|
||
|
|
|
||
|
|
@param mode One of the KX122_BUFFER_MODE_T values.
|
||
|
|
@throws std::runtime_error on failure.
|
||
|
|
*/
|
||
|
|
void setBufferMode(KX122_BUFFER_MODE_T mode);
|
||
|
|
|
||
|
|
/**
|
||
|
|
Gets the current amount of samples in the buffer.
|
||
|
|
|
||
|
|
@param samples Pointer to an uint variable to store the data.
|
||
|
|
@throws std::runtime_error on failure.
|
||
|
|
*/
|
||
|
|
void getBufferStatus(uint *samples);
|
||
|
|
|
||
|
|
/**
|
||
|
|
Gets the specified amount of raw acceleration samples from the buffer.
|
||
|
|
|
||
|
|
Make sure the array size is atleast the amount of samples to be read.
|
||
|
|
|
||
|
|
@param len The amount of samples to read from the buffer.
|
||
|
|
@param x_array Pointer to an floating point array to store the x-axis data. Can be set to NULL if not wanted.
|
||
|
|
@param y_array Pointer to an floating point array to store the y-axis data. Can be set to NULL if not wanted.
|
||
|
|
@param z_array Pointer to an floating point array to store the z-axis data. Can be set to NULL if not wanted.
|
||
|
|
@throws std::runtime_error on failure.
|
||
|
|
*/
|
||
|
|
void getRawBufferSamples(uint len, float *x_array, float *y_array, float *z_array);
|
||
|
|
|
||
|
|
/**
|
||
|
|
Gets the specified amount of converted (m/s^2) acceleration samples from the buffer.
|
||
|
|
|
||
|
|
Make sure the array size is atleast the amount of samples to be read.
|
||
|
|
|
||
|
|
@param len The amount of samples to read from the buffer.
|
||
|
|
@param x_array Pointer to an floating point array to store the x-axis data. Can be set to NULL if not wanted.
|
||
|
|
@param y_array Pointer to an floating point array to store the y-axis data. Can be set to NULL if not wanted.
|
||
|
|
@param z_array Pointer to an floating point array to store the z-axis data. Can be set to NULL if not wanted.
|
||
|
|
@throws std::runtime_error on failure.
|
||
|
|
*/
|
||
|
|
void getBufferSamples(uint len, float *x_array, float *y_array, float *z_array);
|
||
|
|
|
||
|
|
/**
|
||
|
|
Clears the buffer, removing all existing samples from the buffer.
|
||
|
|
|
||
|
|
@throws std::runtime_error on failure.
|
||
|
|
*/
|
||
|
|
void clearBuffer();
|
||
|
|
private:
|
||
|
|
//Device context
|
||
|
|
kx122_context m_kx122;
|
||
|
|
};
|
||
|
|
}
|