kx123.h

00001 /*   Copyright 2016 Rohm Semiconductor
00002 
00003    Licensed under the Apache License, Version 2.0 (the "License");
00004    you may not use this file except in compliance with the License.
00005    You may obtain a copy of the License at
00006 
00007        http://www.apache.org/licenses/LICENSE-2.0
00008 
00009    Unless required by applicable law or agreed to in writing, software
00010    distributed under the License is distributed on an "AS IS" BASIS,
00011    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00012    See the License for the specific language governing permissions and
00013    limitations under the License.
00014 */
00015 #ifndef KX123_H
00016 #define KX123_H
00017 
00018 #include "RegisterWriter/RegisterWriter/rohm_hal2.h"
00019 #include "RegisterWriter/RegisterWriter/RegisterWriter.h"
00020 
00021 #include "kx123_registers.h"
00022 
00023 /**
00024 * Kionix KX123 accelerometer i2c driver. For some extend can be used also with
00025 * kx012, kx022, kx023, kx23h, kx112, kx122, kx124, kx222 and kx224. Driver uses
00026 * RegisterWriter -class as (i2c) hardware abstraction layer.
00027 * Note that when doing setup, sensor has to be in setup mode, not in operating mode.
00028 */
00029 class KX123
00030 {
00031 public:
00032 
00033     KX123(RegisterWriter &i2c_obj, uint8_t sad = KX123_DEFAULT_SLAVE_ADDRESS, uint8_t wai = KX123_WHO_AM_I_WAI_ID);
00034     ~KX123();
00035 
00036     bool start_setup_mode(void);
00037     bool start_measurement_mode(void);
00038     bool set_defaults(void);
00039     bool getresults_highpass(int16_t* buf);
00040     bool getresults_raw(int16_t* buf);
00041     bool getresults_highpass_g(float* buf);
00042     bool getresults_g(float* buf);
00043 
00044     
00045     bool get_tilt(enum e_axis* current_previous);
00046     bool get_tap_interrupt_axis(enum e_axis* axis);
00047     bool get_detected_motion_axis(enum e_axis* axis);
00048     bool set_tilt_axis_mask(uint8_t cnltl2_tilt_mask);
00049     
00050     bool get_interrupt_reason(enum e_interrupt_reason* int_reason);
00051 
00052     bool has_interrupt_occured();
00053     void clear_interrupt();
00054     void soft_reset();
00055     bool self_test();
00056 
00057     bool set_cntl3_odrs(uint8_t tilt_position_odr, uint8_t directional_tap_odr, uint8_t motion_wuf_odr); //0xff for DONT_SET
00058     bool set_odcntl(bool iir_filter_off, uint8_t lowpass_filter_freq_half, uint8_t odr);
00059     bool int1_setup(uint8_t pwsel,
00060         bool physical_int_pin_enabled,
00061         bool physical_int_pin_active_high,
00062         bool physical_int_pin_latch_disabled,
00063         bool self_test_polarity_positive,
00064         bool spi3wire_enabled);
00065     bool int2_setup(uint8_t pwsel,
00066         bool physical_int_pin_enabled,
00067         bool physical_int_pin_active_high,
00068         bool physical_int_pin_latch_disabled,
00069         bool aclr2_enabled,
00070         bool aclr1_enabled);
00071     bool set_int1_interrupt_reason(uint8_t interrupt_reason);
00072     bool set_int2_interrupt_reason(uint8_t interrupt_reason);
00073 
00074     bool set_motion_detect_axis(uint8_t xxyyzz, bool axis_and_combination_enabled = false);
00075     bool set_tap_axis(uint8_t xxyyzz);
00076 /**
00077 * Note that not all sensor setup registers are exposed with this driver yet.
00078 * There are also setup registers for motion detect, tap/double tap detect, free
00079 * fall detect, tilt hysteresis, low power and FIFO.
00080 */
00081 
00082 private:
00083     bool setup_mode_on;
00084     void set_tilt_position_defaults();
00085     
00086     RegisterWriter i2c_rw;
00087     uint16_t resolution_divider;
00088     uint8_t _sad;
00089     uint8_t _wai;
00090 };
00091 
00092 #endif