KX022.h

00001 /* Copyright (c) 2015 ARM Ltd., MIT License
00002 *
00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
00004 * and associated documentation files (the "Software"), to deal in the Software without
00005 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
00006 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
00007 * Software is furnished to do so, subject to the following conditions:
00008 *
00009 * The above copyright notice and this permission notice shall be included in all copies or
00010 * substantial portions of the Software.
00011 *
00012 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
00013 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00014 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
00015 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00016 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017 *
00018 *
00019 *  KX022 Accelerometer library
00020 *
00021 *  @author  Toyomasa Watarai
00022 *  @version 1.0
00023 *  @date    30-December-2015
00024 *
00025 *  Library for "KX022 Accelerometer library" from Kionix a Rohm group
00026 *    http://www.kionix.com/product/KX022-1020
00027 *
00028 */
00029 
00030 #ifndef KX022_H
00031 #define KX022_H
00032 
00033 #include "mbed.h"
00034 
00035 #define KX022_DEFAULT_SLAVE_ADDRESS (0x1E << 1)
00036 #define KX022_WAI_VAL         (0x14)
00037 
00038 #define KX022_XOUT_L          (0x06)
00039 #define KX022_XOUT_H          (0x07)
00040 #define KX022_YOUT_L          (0x08)
00041 #define KX022_YOUT_H          (0x09)
00042 #define KX022_ZOUT_L          (0x0A)
00043 #define KX022_ZOUT_H          (0x0B)
00044 #define KX022_WHO_AM_I        (0x0F)
00045 #define KX022_CNTL1           (0x18)
00046 #define KX022_CNTL3           (0x1A)
00047 #define KX022_ODCNTL          (0x1B)
00048 #define KX022_TILT_TIMER      (0x22)
00049 
00050 #define _DEBUG
00051 #ifdef _DEBUG
00052 extern Serial pc;
00053 #define DEBUG_PRINT(...) pc.printf(__VA_ARGS__)
00054 #else
00055 #define DEBUG_PRINT(...)
00056 #endif
00057 
00058 /**
00059 * KX022 accelerometer example
00060 *
00061 * @code
00062 * #include "mbed.h"
00063 * #include "KX022.h"
00064 *
00065 * int main(void) {
00066 *
00067 * KX022 acc(I2C_SDA, I2C_SCL);
00068 * PwmOut rled(LED_RED);
00069 * PwmOut gled(LED_GREEN);
00070 * PwmOut bled(LED_BLUE);
00071 *
00072 *     while (true) {
00073 *         rled = 1.0 - abs(acc.getAccX());
00074 *         gled = 1.0 - abs(acc.getAccY());
00075 *         bled = 1.0 - abs(acc.getAccZ());
00076 *         wait(0.1);
00077 *     }
00078 * }
00079 * @endcode
00080 */
00081 class KX022
00082 {
00083 public:
00084     /**
00085     * KX022 constructor
00086     *
00087     * @param sda SDA pin
00088     * @param sdl SCL pin
00089     * @param addr slave address of the I2C peripheral (default: 0x3C)
00090     */
00091     KX022(PinName sda, PinName scl, int addr = KX022_DEFAULT_SLAVE_ADDRESS);
00092 
00093     /**
00094      * Create a KX022 instance which is connected to specified I2C pins
00095      * with specified address
00096      *
00097      * @param i2c_obj I2C object (instance)
00098      * @param addr slave address of the I2C-bus peripheral (default: 0x3C)
00099      */
00100     KX022(I2C &i2c_obj, int addr = KX022_DEFAULT_SLAVE_ADDRESS);
00101 
00102     /**
00103     * KX022 destructor
00104     */
00105     ~KX022();
00106 
00107     /** Initializa KX022 sensor
00108      *
00109      *  Configure sensor setting
00110      *
00111      */
00112     void initialize(void);
00113 
00114     /**
00115      * Get X axis acceleration
00116      *
00117      * @returns X axis acceleration
00118      */
00119     float getAccX();
00120 
00121     /**
00122      * Get Y axis acceleration
00123      *
00124      * @returns Y axis acceleration
00125      */
00126     float getAccY();
00127 
00128     /**
00129      * Get Z axis acceleration
00130      *
00131      * @returns Z axis acceleration
00132      */
00133     float getAccZ();
00134 
00135     /**
00136      * Get XYZ axis acceleration
00137      *
00138      * @param res array where acceleration data will be stored
00139      */
00140     void getAccAllAxis(float * res);
00141 
00142 private:
00143     I2C m_i2c;
00144     int m_addr;
00145     void readRegs(int addr, uint8_t * data, int len);
00146     void writeRegs(uint8_t * data, int len);
00147     int16_t getAccAxis(uint8_t addr);
00148 
00149 };
00150 
00151 #endif