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/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Copyright (c) 2014 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 <string>
#include <mraa/i2c.hpp>
#define ADDR 0x1D // device address
// Register names according to the datasheet.
// Register 0x1C is sometimes called 'PW', and sometimes 'PD'.
// The two reserved registers cannot be used.
#define MMA7455_XOUTL 0x00 // Read only, Output Value X LSB
#define MMA7455_XOUTH 0x01 // Read only, Output Value X MSB
#define MMA7455_YOUTL 0x02 // Read only, Output Value Y LSB
#define MMA7455_YOUTH 0x03 // Read only, Output Value Y MSB
#define MMA7455_ZOUTL 0x04 // Read only, Output Value Z LSB
#define MMA7455_ZOUTH 0x05 // Read only, Output Value Z MSB
#define MMA7455_XOUT8 0x06 // Read only, Output Value X 8 bits
#define MMA7455_YOUT8 0x07 // Read only, Output Value Y 8 bits
#define MMA7455_ZOUT8 0x08 // Read only, Output Value Z 8 bits
#define MMA7455_STATUS 0x09 // Read only, Status Register
#define MMA7455_DETSRC 0x0A // Read only, Detection Source Register
#define MMA7455_TOUT 0x0B // Temperature Output Value (Optional)
#define MMA7455_RESERVED1 0x0C // Reserved
#define MMA7455_I2CAD 0x0D // Read/Write, I2C Device Address
#define MMA7455_USRINF 0x0E // Read only, User Information (Optional)
#define MMA7455_WHOAMI 0x0F // Read only, "Who am I" value (Optional)
#define MMA7455_XOFFL 0x10 // Read/Write, Offset Drift X LSB
#define MMA7455_XOFFH 0x11 // Read/Write, Offset Drift X MSB
#define MMA7455_YOFFL 0x12 // Read/Write, Offset Drift Y LSB
#define MMA7455_YOFFH 0x13 // Read/Write, Offset Drift Y MSB
#define MMA7455_ZOFFL 0x14 // Read/Write, Offset Drift Z LSB
#define MMA7455_ZOFFH 0x15 // Read/Write, Offset Drift Z MSB
#define MMA7455_MCTL 0x16 // Read/Write, Mode Control Register
#define MMA7455_INTRST 0x17 // Read/Write, Interrupt Latch Reset
#define MMA7455_CTL1 0x18 // Read/Write, Control 1 Register
#define MMA7455_CTL2 0x19 // Read/Write, Control 2 Register
#define MMA7455_LDTH 0x1A // Read/Write, Level Detection Threshold Limit Value
#define MMA7455_PDTH 0x1B // Read/Write, Pulse Detection Threshold Limit Value
#define MMA7455_PD 0x1C // Read/Write, Pulse Duration Value
#define MMA7455_LT 0x1D // Read/Write, Latency Time Value (between pulses)
#define MMA7455_TW 0x1E // Read/Write, Time Window for Second Pulse Value
#define MMA7455_RESERVED2 0x1F // Reserved
// Defines for the bits to be able to change
// between the bit number and the binary definition.
// By using the bit number, programming MMA7455
// is like programming an AVR microcontroller.
// But instead of using "(1<<X)", or "_BV(X)",
// the Arduino "bit(X)" is used.
#define MMA7455_D0 0
#define MMA7455_D1 1
#define MMA7455_D2 2
#define MMA7455_D3 3
#define MMA7455_D4 4
#define MMA7455_D5 5
#define MMA7455_D6 6
#define MMA7455_D7 7
// Status Register
#define MMA7455_DRDY MMA7455_D0
#define MMA7455_DOVR MMA7455_D1
#define MMA7455_PERR MMA7455_D2
// Mode Control Register
#define MMA7455_MODE0 MMA7455_D0
#define MMA7455_MODE1 MMA7455_D1
#define MMA7455_GLVL0 MMA7455_D2
#define MMA7455_GLVL1 MMA7455_D3
#define MMA7455_STON MMA7455_D4
#define MMA7455_SPI3W MMA7455_D5
#define MMA7455_DRPD MMA7455_D6
// Control 1 Register
#define MMA7455_INTPIN MMA7455_D0
#define MMA7455_INTREG0 MMA7455_D1
#define MMA7455_INTREG1 MMA7455_D2
#define MMA7455_XDA MMA7455_D3
#define MMA7455_YDA MMA7455_D4
#define MMA7455_ZDA MMA7455_D5
#define MMA7455_THOPT MMA7455_D6
#define MMA7455_DFBW MMA7455_D7
// Control 2 Register
#define MMA7455_LDPL MMA7455_D0
#define MMA7455_PDPL MMA7455_D1
#define MMA7455_DRVO MMA7455_D2
// Interrupt Latch Reset Register
#define MMA7455_CLR_INT1 MMA7455_D0
#define MMA7455_CLR_INT2 MMA7455_D1
// Detection Source Register
#define MMA7455_INT1 MMA7455_D0
#define MMA7455_INT2 MMA7455_D1
#define MMA7455_PDZ MMA7455_D2
#define MMA7455_PDY MMA7455_D3
#define MMA7455_PDX MMA7455_D4
#define MMA7455_LDZ MMA7455_D5
#define MMA7455_LDY MMA7455_D6
#define MMA7455_LDX MMA7455_D7
// I2C Device Address Register
#define MMA7455_I2CDIS MMA7455_D7
#define HIGH 1
#define LOW 0
namespace upm {
typedef union {
struct {
unsigned char x_lsb;
unsigned char x_msb;
unsigned char y_lsb;
unsigned char y_msb;
unsigned char z_lsb;
unsigned char z_msb;
} reg;
struct {
short x;
short y;
short z;
} value;
} accelData;
#define BIT(n) (1<<n)
/**
* @brief MMA7455 Accelerometer library
* @defgroup mma7455 libupm-mma7455
* @ingroup generic i2c accelerometer
*/
/**
* @library mma7455
* @sensor mma7455
* @comname MMA7455 Accelerometer Sensor
* @type accelerometer
* @man generic
* @con i2c
*
* @brief API for the MMA7455 Accelerometer
*
* This module defines the MMA7455 interface for libmma7455
*
* @image html mma7455.jpg
* @snippet mma7455.cxx Interesting
*/
class MMA7455 {
public:
/**
* Instantiates an MMA7455 object
*
* @param bus Number of the used bus
* @param devAddr Address of the used I2C device
*/
MMA7455 (int bus=0, int devAddr=0x1D);
/**
* Returns the name of the component
*
* @return Name of the component
*/
std::string name()
{
return m_name;
}
/**
* Calibrates the sensor
*
* @return 0 (MRAA_SUCCESS) if successful; non-zero otherwise
*/
mraa::Result calibrate ();
/**
* Reads X-axis, Y-axis, and Z-axis acceleration data
*
* @param ptrX X-axis
* @param ptrY Y-axis
* @param ptrZ Z-axis
*
* @return 0 (MRAA_SUCCESS) if successful; non-zero otherwise
*/
mraa::Result readData (short * ptrX, short * ptrY, short * ptrZ);
#ifdef SWIGJAVA
/**
* Reads X-axis, Y-axis, and Z-axis acceleration data
*
* @return Array containing X, Y, Z acceleration data
*/
short *readData ();
#endif
/**
* Internal function for reading I2C data
*
* @param reg Register address
* @param buffer Register data buffer
* @param len Buffer size
*/
int i2cReadReg (unsigned char reg, uint8_t *buffer, int len);
/**
* Internal function for writing I2C data
*
* @param reg Register address
* @param buffer Register data buffer
* @param len Buffer size
*/
mraa::Result i2cWriteReg (unsigned char reg, uint8_t *buffer, int len);
private:
std::string m_name;
int m_controlAddr;
int m_bus;
mraa::I2c m_i2ControlCtx;
};
}
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