Kionix KX123 accelerometer C++ driver. Can be used for some extend also with kx022, kx023, kx122, etc. when used features are present in sensor.
Fork of kionix-kx123-driver by
kx123.cpp@3:4fd5361ed180, 2016-10-06 (annotated)
- Committer:
- MikkoZ
- Date:
- Thu Oct 06 13:02:55 2016 +0000
- Revision:
- 3:4fd5361ed180
- Parent:
- 2:62891556d47b
- Child:
- 4:749ec3447c5f
Bugfix: get_results_highpass; ; Changed parameter from uint16_t to int16_t as it should be.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
MikkoZ | 0:a3f43eb92f86 | 1 | /* Copyright 2016 Rohm Semiconductor |
MikkoZ | 0:a3f43eb92f86 | 2 | |
MikkoZ | 0:a3f43eb92f86 | 3 | Licensed under the Apache License, Version 2.0 (the "License"); |
MikkoZ | 0:a3f43eb92f86 | 4 | you may not use this file except in compliance with the License. |
MikkoZ | 0:a3f43eb92f86 | 5 | You may obtain a copy of the License at |
MikkoZ | 0:a3f43eb92f86 | 6 | |
MikkoZ | 0:a3f43eb92f86 | 7 | http://www.apache.org/licenses/LICENSE-2.0 |
MikkoZ | 0:a3f43eb92f86 | 8 | |
MikkoZ | 0:a3f43eb92f86 | 9 | Unless required by applicable law or agreed to in writing, software |
MikkoZ | 0:a3f43eb92f86 | 10 | distributed under the License is distributed on an "AS IS" BASIS, |
MikkoZ | 0:a3f43eb92f86 | 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
MikkoZ | 0:a3f43eb92f86 | 12 | See the License for the specific language governing permissions and |
MikkoZ | 0:a3f43eb92f86 | 13 | limitations under the License. |
MikkoZ | 0:a3f43eb92f86 | 14 | */ |
MikkoZ | 0:a3f43eb92f86 | 15 | #include "RegisterWriter/RegisterWriter/rohm_hal2.h" |
MikkoZ | 0:a3f43eb92f86 | 16 | #include "RegisterWriter/RegisterWriter/RegisterWriter.h" |
MikkoZ | 0:a3f43eb92f86 | 17 | |
MikkoZ | 0:a3f43eb92f86 | 18 | #include "kx123.h" |
MikkoZ | 0:a3f43eb92f86 | 19 | |
MikkoZ | 0:a3f43eb92f86 | 20 | /** |
MikkoZ | 1:f328083fb80b | 21 | * Create a KX123 instance for communication through pre-instantiated |
MikkoZ | 1:f328083fb80b | 22 | * RegisterWriter (I2C) -object. |
MikkoZ | 0:a3f43eb92f86 | 23 | * |
MikkoZ | 1:f328083fb80b | 24 | * @param i2c_obj pre-instantiated RegisterWriter (I2C) -object reference |
MikkoZ | 0:a3f43eb92f86 | 25 | * @param sad slave address of sensor. |
MikkoZ | 0:a3f43eb92f86 | 26 | * @param wai who_am_i value (i.e. sensor type/model) |
MikkoZ | 0:a3f43eb92f86 | 27 | */ |
MikkoZ | 1:f328083fb80b | 28 | KX123::KX123(RegisterWriter &i2c_obj, uint8_t sad, uint8_t wai) : i2c_rw(i2c_obj) { |
MikkoZ | 1:f328083fb80b | 29 | _sad = sad; |
MikkoZ | 1:f328083fb80b | 30 | _wai = wai; |
MikkoZ | 2:62891556d47b | 31 | setup_mode_on = false; |
MikkoZ | 0:a3f43eb92f86 | 32 | } |
MikkoZ | 0:a3f43eb92f86 | 33 | |
MikkoZ | 0:a3f43eb92f86 | 34 | KX123::~KX123(){ |
MikkoZ | 0:a3f43eb92f86 | 35 | } |
MikkoZ | 0:a3f43eb92f86 | 36 | |
MikkoZ | 0:a3f43eb92f86 | 37 | /** |
MikkoZ | 2:62891556d47b | 38 | * Start setup/stand-by mode and shut off measurements. |
MikkoZ | 2:62891556d47b | 39 | * @return true on error, false on ok |
MikkoZ | 2:62891556d47b | 40 | */ |
MikkoZ | 2:62891556d47b | 41 | bool KX123::start_setup_mode(void){ |
MikkoZ | 2:62891556d47b | 42 | setup_mode_on = true; |
MikkoZ | 2:62891556d47b | 43 | return i2c_rw.change_bits(_sad, KX122_CNTL1, KX122_CNTL1_PC1, KX122_CNTL1_PC1); |
MikkoZ | 2:62891556d47b | 44 | } |
MikkoZ | 2:62891556d47b | 45 | |
MikkoZ | 2:62891556d47b | 46 | /** |
MikkoZ | 2:62891556d47b | 47 | * Start operating/measurement mode. Setup is not allowed while in this mode. |
MikkoZ | 2:62891556d47b | 48 | * @return true on error, false on ok |
MikkoZ | 2:62891556d47b | 49 | */ |
MikkoZ | 2:62891556d47b | 50 | bool KX123::start_measurement_mode(void){ |
MikkoZ | 2:62891556d47b | 51 | setup_mode_on = false; |
MikkoZ | 2:62891556d47b | 52 | return i2c_rw.change_bits(_sad, KX122_CNTL1, KX122_CNTL1_PC1, 0); |
MikkoZ | 2:62891556d47b | 53 | } |
MikkoZ | 2:62891556d47b | 54 | |
MikkoZ | 2:62891556d47b | 55 | /** |
MikkoZ | 0:a3f43eb92f86 | 56 | * Check if sensor is connected, setup defaults to sensor and start measuring. |
MikkoZ | 0:a3f43eb92f86 | 57 | * @return true on error, false on ok |
MikkoZ | 0:a3f43eb92f86 | 58 | */ |
MikkoZ | 0:a3f43eb92f86 | 59 | bool KX123::set_defaults() |
MikkoZ | 0:a3f43eb92f86 | 60 | { |
MikkoZ | 0:a3f43eb92f86 | 61 | unsigned char buf; |
MikkoZ | 0:a3f43eb92f86 | 62 | |
MikkoZ | 0:a3f43eb92f86 | 63 | DEBUG_print("\n\r"); |
MikkoZ | 0:a3f43eb92f86 | 64 | DEBUG_print("KX123 init started\n\r"); |
MikkoZ | 1:f328083fb80b | 65 | i2c_rw.read_register(_sad, KX122_WHO_AM_I, &buf, 1); |
MikkoZ | 0:a3f43eb92f86 | 66 | if (buf == KX123_WHO_AM_I_WAI_ID) { |
MikkoZ | 0:a3f43eb92f86 | 67 | DEBUG_print("KX123 found. (WAI %d) ", buf); |
MikkoZ | 0:a3f43eb92f86 | 68 | } else { |
MikkoZ | 0:a3f43eb92f86 | 69 | DEBUG_print("KX123 not found (WAI %d, not %d). ", buf, KX123_WHO_AM_I_WAI_ID); |
MikkoZ | 0:a3f43eb92f86 | 70 | switch(buf){ |
MikkoZ | 0:a3f43eb92f86 | 71 | case KX012_WHO_AM_I_WAI_ID: |
MikkoZ | 0:a3f43eb92f86 | 72 | DEBUG_print("Found KX012"); |
MikkoZ | 0:a3f43eb92f86 | 73 | break; |
MikkoZ | 0:a3f43eb92f86 | 74 | case KX022_WHO_AM_I_WAI_ID: |
MikkoZ | 0:a3f43eb92f86 | 75 | DEBUG_print("Found KX022"); |
MikkoZ | 0:a3f43eb92f86 | 76 | break; |
MikkoZ | 0:a3f43eb92f86 | 77 | case KX023_WHO_AM_I_WAI_ID: |
MikkoZ | 0:a3f43eb92f86 | 78 | DEBUG_print("Found KX023"); |
MikkoZ | 0:a3f43eb92f86 | 79 | break; |
MikkoZ | 0:a3f43eb92f86 | 80 | case KX23H_WHO_AM_I_WAI_ID: |
MikkoZ | 0:a3f43eb92f86 | 81 | DEBUG_print("Found KX23H"); |
MikkoZ | 0:a3f43eb92f86 | 82 | break; |
MikkoZ | 0:a3f43eb92f86 | 83 | case KX112_WHO_AM_I_WAI_ID: |
MikkoZ | 0:a3f43eb92f86 | 84 | DEBUG_print("Found KX112"); |
MikkoZ | 0:a3f43eb92f86 | 85 | break; |
MikkoZ | 0:a3f43eb92f86 | 86 | case KX122_WHO_AM_I_WAI_ID: |
MikkoZ | 0:a3f43eb92f86 | 87 | DEBUG_print("Found KX122"); |
MikkoZ | 0:a3f43eb92f86 | 88 | break; |
MikkoZ | 0:a3f43eb92f86 | 89 | case KX124_WHO_AM_I_WAI_ID: |
MikkoZ | 0:a3f43eb92f86 | 90 | DEBUG_print("Found KX124"); |
MikkoZ | 0:a3f43eb92f86 | 91 | break; |
MikkoZ | 0:a3f43eb92f86 | 92 | case KX222_WHO_AM_I_WAI_ID: |
MikkoZ | 0:a3f43eb92f86 | 93 | DEBUG_print("Found KX222"); |
MikkoZ | 0:a3f43eb92f86 | 94 | break; |
MikkoZ | 0:a3f43eb92f86 | 95 | case KX224_WHO_AM_I_WAI_ID: |
MikkoZ | 0:a3f43eb92f86 | 96 | DEBUG_print("Found KX224"); |
MikkoZ | 0:a3f43eb92f86 | 97 | break; |
MikkoZ | 0:a3f43eb92f86 | 98 | default: |
MikkoZ | 0:a3f43eb92f86 | 99 | DEBUG_print("Not even other sensor found from same family.\n\r"); |
MikkoZ | 0:a3f43eb92f86 | 100 | return true; |
MikkoZ | 0:a3f43eb92f86 | 101 | } |
MikkoZ | 0:a3f43eb92f86 | 102 | DEBUG_print(" though, trying to use that.\n\r"); |
MikkoZ | 0:a3f43eb92f86 | 103 | } |
MikkoZ | 0:a3f43eb92f86 | 104 | |
MikkoZ | 0:a3f43eb92f86 | 105 | //First set CNTL1 PC1-bit to stand-by mode, after that setup can be made |
MikkoZ | 1:f328083fb80b | 106 | i2c_rw.write_register(_sad, KX122_CNTL1, 0 ); |
MikkoZ | 2:62891556d47b | 107 | setup_mode_on = true; |
MikkoZ | 0:a3f43eb92f86 | 108 | |
MikkoZ | 0:a3f43eb92f86 | 109 | //set_tilt_position_defaults(); |
MikkoZ | 0:a3f43eb92f86 | 110 | |
MikkoZ | 0:a3f43eb92f86 | 111 | //ODCNTL: Output Data Rate control (ODR) |
MikkoZ | 1:f328083fb80b | 112 | i2c_rw.write_register(_sad, KX122_ODCNTL, KX122_ODCNTL_OSA_25600); |
MikkoZ | 0:a3f43eb92f86 | 113 | //Setup G-range and 8/16-bit resolution + set CNTL1 PC1-bit to operating mode (also WUF_EN, TP_EN and DT_EN) |
MikkoZ | 1:f328083fb80b | 114 | i2c_rw.write_register(_sad, KX122_CNTL1, ( KX122_CNTL1_PC1 | KX122_CNTL1_GSEL_8G | KX122_CNTL1_RES ) ); |
MikkoZ | 2:62891556d47b | 115 | setup_mode_on = false; |
MikkoZ | 0:a3f43eb92f86 | 116 | |
MikkoZ | 0:a3f43eb92f86 | 117 | //resolution_divider = 32768/2; //KX122_CNTL1_GSEL_2G |
MikkoZ | 0:a3f43eb92f86 | 118 | //resolution_divider = 32768/4; //KX122_CNTL1_GSEL_4G |
MikkoZ | 0:a3f43eb92f86 | 119 | resolution_divider = 32768/8; //KX122_CNTL1_GSEL_8G |
MikkoZ | 0:a3f43eb92f86 | 120 | |
MikkoZ | 0:a3f43eb92f86 | 121 | return false; |
MikkoZ | 0:a3f43eb92f86 | 122 | } |
MikkoZ | 0:a3f43eb92f86 | 123 | |
MikkoZ | 0:a3f43eb92f86 | 124 | |
MikkoZ | 0:a3f43eb92f86 | 125 | /** |
MikkoZ | 2:62891556d47b | 126 | * Setup default settings for a tilt position |
MikkoZ | 0:a3f43eb92f86 | 127 | **/ |
MikkoZ | 0:a3f43eb92f86 | 128 | void KX123::set_tilt_position_defaults(){ |
MikkoZ | 2:62891556d47b | 129 | if (setup_mode_on == false) return; |
MikkoZ | 0:a3f43eb92f86 | 130 | //CNTL3: Tilt position control, directional tap control and motion wakeup control |
MikkoZ | 1:f328083fb80b | 131 | i2c_rw.write_register(_sad, KX122_CNTL3, ( KX122_CNTL3_OTP_50 | KX122_CNTL3_OTDT_400 ) ); |
MikkoZ | 0:a3f43eb92f86 | 132 | //TILT_TIMER: Setup tilt position timer (~=filter) |
MikkoZ | 1:f328083fb80b | 133 | i2c_rw.write_register(_sad, KX122_TILT_TIMER, 0x01); |
MikkoZ | 0:a3f43eb92f86 | 134 | return; |
MikkoZ | 0:a3f43eb92f86 | 135 | } |
MikkoZ | 0:a3f43eb92f86 | 136 | |
MikkoZ | 0:a3f43eb92f86 | 137 | |
MikkoZ | 0:a3f43eb92f86 | 138 | /** |
MikkoZ | 2:62891556d47b | 139 | * Get filtered uint16_t XYZ-values from sensor |
MikkoZ | 2:62891556d47b | 140 | * @param *buf to uint16_t[3] for results |
MikkoZ | 2:62891556d47b | 141 | * @return true on error, false on read ok. |
MikkoZ | 2:62891556d47b | 142 | **/ |
MikkoZ | 3:4fd5361ed180 | 143 | bool KX123::getresults_highpass(int16_t* buf) { |
MikkoZ | 2:62891556d47b | 144 | #define RESULTS_LEN 6 |
MikkoZ | 2:62891556d47b | 145 | uint8_t tmp[RESULTS_LEN]; //XYZ (lhlhlh) |
MikkoZ | 2:62891556d47b | 146 | uint8_t read_bytes; |
MikkoZ | 2:62891556d47b | 147 | |
MikkoZ | 2:62891556d47b | 148 | read_bytes = i2c_rw.read_register(_sad, KX122_XHP_L, &tmp[0], sizeof(tmp)); |
MikkoZ | 2:62891556d47b | 149 | if (read_bytes != RESULTS_LEN){ |
MikkoZ | 2:62891556d47b | 150 | return true; |
MikkoZ | 2:62891556d47b | 151 | } |
MikkoZ | 2:62891556d47b | 152 | buf[0] = ( tmp[1] << 8 ) | tmp[0]; //X |
MikkoZ | 2:62891556d47b | 153 | buf[1] = ( tmp[3] << 8 ) | tmp[2]; //Y |
MikkoZ | 2:62891556d47b | 154 | buf[2] = ( tmp[5] << 8 ) | tmp[4]; //Z |
MikkoZ | 2:62891556d47b | 155 | return false; |
MikkoZ | 2:62891556d47b | 156 | } |
MikkoZ | 2:62891556d47b | 157 | |
MikkoZ | 2:62891556d47b | 158 | /** |
MikkoZ | 1:f328083fb80b | 159 | * Get raw uint16_t XYZ-values from sensor |
MikkoZ | 1:f328083fb80b | 160 | * @param *buf to uint16_t[3] for results |
MikkoZ | 1:f328083fb80b | 161 | * @return true on error, false on read ok. |
MikkoZ | 0:a3f43eb92f86 | 162 | **/ |
MikkoZ | 0:a3f43eb92f86 | 163 | bool KX123::getresults_raw(int16_t* buf){ |
MikkoZ | 0:a3f43eb92f86 | 164 | #define RESULTS_LEN 6 |
MikkoZ | 0:a3f43eb92f86 | 165 | uint8_t tmp[RESULTS_LEN]; //XYZ (lhlhlh) |
MikkoZ | 0:a3f43eb92f86 | 166 | uint8_t read_bytes; |
MikkoZ | 0:a3f43eb92f86 | 167 | |
MikkoZ | 1:f328083fb80b | 168 | read_bytes = i2c_rw.read_register(_sad, KX122_XOUT_L, &tmp[0], sizeof(tmp)); |
MikkoZ | 0:a3f43eb92f86 | 169 | if (read_bytes != RESULTS_LEN){ |
MikkoZ | 0:a3f43eb92f86 | 170 | return true; |
MikkoZ | 0:a3f43eb92f86 | 171 | } |
MikkoZ | 0:a3f43eb92f86 | 172 | buf[0] = ( tmp[1] << 8 ) | tmp[0]; //X |
MikkoZ | 0:a3f43eb92f86 | 173 | buf[1] = ( tmp[3] << 8 ) | tmp[2]; //Y |
MikkoZ | 0:a3f43eb92f86 | 174 | buf[2] = ( tmp[5] << 8 ) | tmp[4]; //Z |
MikkoZ | 0:a3f43eb92f86 | 175 | return false; |
MikkoZ | 0:a3f43eb92f86 | 176 | } |
MikkoZ | 0:a3f43eb92f86 | 177 | |
MikkoZ | 0:a3f43eb92f86 | 178 | |
MikkoZ | 1:f328083fb80b | 179 | /** |
MikkoZ | 1:f328083fb80b | 180 | * Get gravity scaled float XYZ-values from sensor |
MikkoZ | 1:f328083fb80b | 181 | * @param *buf to float[3] for results |
MikkoZ | 1:f328083fb80b | 182 | * @return true on error, false on read ok. |
MikkoZ | 1:f328083fb80b | 183 | **/ |
MikkoZ | 0:a3f43eb92f86 | 184 | bool KX123::getresults_g(float* buf){ |
MikkoZ | 0:a3f43eb92f86 | 185 | int16_t raw[3]; |
MikkoZ | 0:a3f43eb92f86 | 186 | int read_error; |
MikkoZ | 0:a3f43eb92f86 | 187 | |
MikkoZ | 0:a3f43eb92f86 | 188 | read_error = getresults_raw(&raw[0]); |
MikkoZ | 0:a3f43eb92f86 | 189 | if (read_error){ |
MikkoZ | 0:a3f43eb92f86 | 190 | return read_error; |
MikkoZ | 0:a3f43eb92f86 | 191 | } |
MikkoZ | 0:a3f43eb92f86 | 192 | |
MikkoZ | 0:a3f43eb92f86 | 193 | //Scale raw values to G-scale |
MikkoZ | 0:a3f43eb92f86 | 194 | buf[0] = ((float)raw[0]) / resolution_divider; |
MikkoZ | 0:a3f43eb92f86 | 195 | buf[1] = ((float)raw[1]) / resolution_divider; |
MikkoZ | 0:a3f43eb92f86 | 196 | buf[2] = ((float)raw[2]) / resolution_divider; |
MikkoZ | 0:a3f43eb92f86 | 197 | return false; |
MikkoZ | 0:a3f43eb92f86 | 198 | } |
MikkoZ | 0:a3f43eb92f86 | 199 | |
MikkoZ | 2:62891556d47b | 200 | /** |
MikkoZ | 3:4fd5361ed180 | 201 | * Get gravity scaled float XYZ-values from highpass filtered sensor values |
MikkoZ | 3:4fd5361ed180 | 202 | * @param *buf to float[3] for results |
MikkoZ | 3:4fd5361ed180 | 203 | * @return true on error, false on read ok. |
MikkoZ | 3:4fd5361ed180 | 204 | **/ |
MikkoZ | 3:4fd5361ed180 | 205 | bool KX123::getresults_highpass_g(float* buf){ |
MikkoZ | 3:4fd5361ed180 | 206 | int16_t raw[3]; |
MikkoZ | 3:4fd5361ed180 | 207 | int read_error; |
MikkoZ | 3:4fd5361ed180 | 208 | |
MikkoZ | 3:4fd5361ed180 | 209 | read_error = getresults_highpass(&raw[0]); |
MikkoZ | 3:4fd5361ed180 | 210 | if (read_error){ |
MikkoZ | 3:4fd5361ed180 | 211 | return read_error; |
MikkoZ | 3:4fd5361ed180 | 212 | } |
MikkoZ | 3:4fd5361ed180 | 213 | |
MikkoZ | 3:4fd5361ed180 | 214 | //Scale raw values to G-scale |
MikkoZ | 3:4fd5361ed180 | 215 | buf[0] = ((float)raw[0]) / resolution_divider; |
MikkoZ | 3:4fd5361ed180 | 216 | buf[1] = ((float)raw[1]) / resolution_divider; |
MikkoZ | 3:4fd5361ed180 | 217 | buf[2] = ((float)raw[2]) / resolution_divider; |
MikkoZ | 3:4fd5361ed180 | 218 | return false; |
MikkoZ | 3:4fd5361ed180 | 219 | } |
MikkoZ | 3:4fd5361ed180 | 220 | |
MikkoZ | 3:4fd5361ed180 | 221 | /** |
MikkoZ | 2:62891556d47b | 222 | * Get axes of current tilt and previous tilt |
MikkoZ | 2:62891556d47b | 223 | * @param *current_previous space for storing 2 (uint8_t) values |
MikkoZ | 2:62891556d47b | 224 | * @return true on error |
MikkoZ | 2:62891556d47b | 225 | */ |
MikkoZ | 2:62891556d47b | 226 | bool KX123::get_tilt(enum e_axis* current_previous){ |
MikkoZ | 2:62891556d47b | 227 | #define GET_TILT_READ_LEN 2 |
MikkoZ | 2:62891556d47b | 228 | uint8_t read_bytes; |
MikkoZ | 0:a3f43eb92f86 | 229 | |
MikkoZ | 2:62891556d47b | 230 | read_bytes = i2c_rw.read_register(_sad, KX122_TSCP, (uint8_t*)current_previous, GET_TILT_READ_LEN); |
MikkoZ | 2:62891556d47b | 231 | |
MikkoZ | 2:62891556d47b | 232 | return (read_bytes != GET_TILT_READ_LEN); |
MikkoZ | 2:62891556d47b | 233 | } |
MikkoZ | 2:62891556d47b | 234 | |
MikkoZ | 2:62891556d47b | 235 | /** |
MikkoZ | 2:62891556d47b | 236 | * Get axis of triggered tap/double tap interrupt from INS1 |
MikkoZ | 2:62891556d47b | 237 | * @param *axis space for storing 1 (uint8_t) value in e_axis format |
MikkoZ | 2:62891556d47b | 238 | * @return true on error |
MikkoZ | 2:62891556d47b | 239 | */ |
MikkoZ | 2:62891556d47b | 240 | bool KX123::get_tap_interrupt_axis(enum e_axis* axis){ |
MikkoZ | 2:62891556d47b | 241 | #define GET_TAP_READ_LEN 1 |
MikkoZ | 2:62891556d47b | 242 | uint8_t read_bytes; |
MikkoZ | 2:62891556d47b | 243 | |
MikkoZ | 2:62891556d47b | 244 | read_bytes = i2c_rw.read_register(_sad, KX122_INS1, (uint8_t*)axis, GET_TAP_READ_LEN); |
MikkoZ | 2:62891556d47b | 245 | |
MikkoZ | 2:62891556d47b | 246 | return (read_bytes != GET_TAP_READ_LEN); |
MikkoZ | 2:62891556d47b | 247 | } |
MikkoZ | 2:62891556d47b | 248 | |
MikkoZ | 2:62891556d47b | 249 | /** |
MikkoZ | 2:62891556d47b | 250 | * Get axis of triggered motion detect interrupt from INS3 |
MikkoZ | 2:62891556d47b | 251 | * @param *axis space for storing 1 (uint8_t) value in e_axis format |
MikkoZ | 2:62891556d47b | 252 | * @return true on error |
MikkoZ | 2:62891556d47b | 253 | */ |
MikkoZ | 2:62891556d47b | 254 | bool KX123::get_detected_motion_axis(enum e_axis* axis){ |
MikkoZ | 2:62891556d47b | 255 | #define GET_MOTION_READ_LEN 1 |
MikkoZ | 2:62891556d47b | 256 | uint8_t read_bytes; |
MikkoZ | 2:62891556d47b | 257 | |
MikkoZ | 2:62891556d47b | 258 | read_bytes = i2c_rw.read_register(_sad, KX122_INS3, (uint8_t*)axis, GET_MOTION_READ_LEN); |
MikkoZ | 2:62891556d47b | 259 | |
MikkoZ | 2:62891556d47b | 260 | return (read_bytes != GET_MOTION_READ_LEN); |
MikkoZ | 2:62891556d47b | 261 | } |
MikkoZ | 2:62891556d47b | 262 | |
MikkoZ | 2:62891556d47b | 263 | /** |
MikkoZ | 2:62891556d47b | 264 | * Set axis of triggered motion detect interrupt from CNTL2 |
MikkoZ | 2:62891556d47b | 265 | * @param cnltl2_tilt_mask Orred e_axis values for axes directions to cause interrupt |
MikkoZ | 2:62891556d47b | 266 | * @return true on error or setup mode off |
MikkoZ | 2:62891556d47b | 267 | */ |
MikkoZ | 2:62891556d47b | 268 | bool KX123::set_tilt_axis_mask(uint8_t cnltl2_tilt_mask){ |
MikkoZ | 2:62891556d47b | 269 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 270 | //MSb 00 == no_action |
MikkoZ | 2:62891556d47b | 271 | return i2c_rw.write_register(_sad, KX122_CNTL2, (cnltl2_tilt_mask & KX123_AXIS_MASK) ); |
MikkoZ | 2:62891556d47b | 272 | } |
MikkoZ | 2:62891556d47b | 273 | |
MikkoZ | 2:62891556d47b | 274 | /** |
MikkoZ | 2:62891556d47b | 275 | * get cause of interrupt trigger from INS2 |
MikkoZ | 2:62891556d47b | 276 | * @param *int_reason space for storing 1 (uint8_t) value in e_interrupt_reason format |
MikkoZ | 2:62891556d47b | 277 | * @return true on error |
MikkoZ | 2:62891556d47b | 278 | */ |
MikkoZ | 2:62891556d47b | 279 | bool KX123::get_interrupt_reason(enum e_interrupt_reason* int_reason){ |
MikkoZ | 2:62891556d47b | 280 | #define INT_REASON_LEN 1 |
MikkoZ | 2:62891556d47b | 281 | uint8_t read_bytes; |
MikkoZ | 2:62891556d47b | 282 | |
MikkoZ | 2:62891556d47b | 283 | read_bytes = i2c_rw.read_register(_sad, KX122_INS2, (uint8_t*)int_reason, INT_REASON_LEN); |
MikkoZ | 2:62891556d47b | 284 | |
MikkoZ | 2:62891556d47b | 285 | return (read_bytes != INT_REASON_LEN); |
MikkoZ | 2:62891556d47b | 286 | } |
MikkoZ | 2:62891556d47b | 287 | |
MikkoZ | 2:62891556d47b | 288 | /** |
MikkoZ | 2:62891556d47b | 289 | * Check from sensor register if interrupt has occured. Usable feature when |
MikkoZ | 2:62891556d47b | 290 | * multiple sensor interrupts are connected to same interrupt pin. |
MikkoZ | 2:62891556d47b | 291 | * @return true when interrupt has occured. False on read fail and no interrupt. |
MikkoZ | 2:62891556d47b | 292 | */ |
MikkoZ | 2:62891556d47b | 293 | bool KX123::has_interrupt_occured(){ |
MikkoZ | 2:62891556d47b | 294 | uint8_t status_reg; |
MikkoZ | 2:62891556d47b | 295 | uint8_t read_bytes; |
MikkoZ | 2:62891556d47b | 296 | |
MikkoZ | 2:62891556d47b | 297 | read_bytes = i2c_rw.read_register(_sad, KX122_INS2, &status_reg, 1); |
MikkoZ | 2:62891556d47b | 298 | return ((read_bytes == 1) && (status_reg & KX122_STATUS_REG_INT)); |
MikkoZ | 2:62891556d47b | 299 | } |
MikkoZ | 2:62891556d47b | 300 | |
MikkoZ | 2:62891556d47b | 301 | /** |
MikkoZ | 2:62891556d47b | 302 | * Clear interrupt flag when latched. (==Interrupt release) Doesn't work for FIFO |
MikkoZ | 2:62891556d47b | 303 | * Buffer Full or FIFO Watermark -interrupts. |
MikkoZ | 2:62891556d47b | 304 | */ |
MikkoZ | 2:62891556d47b | 305 | void KX123::clear_interrupt(){ |
MikkoZ | 2:62891556d47b | 306 | uint8_t value_discarded; |
MikkoZ | 2:62891556d47b | 307 | |
MikkoZ | 2:62891556d47b | 308 | i2c_rw.read_register(_sad, KX122_INT_REL, &value_discarded, 1); |
MikkoZ | 2:62891556d47b | 309 | |
MikkoZ | 2:62891556d47b | 310 | return; |
MikkoZ | 2:62891556d47b | 311 | } |
MikkoZ | 2:62891556d47b | 312 | |
MikkoZ | 2:62891556d47b | 313 | /** |
MikkoZ | 2:62891556d47b | 314 | * Initiate software reset and RAM reboot routine and wait untill finished. |
MikkoZ | 2:62891556d47b | 315 | */ |
MikkoZ | 2:62891556d47b | 316 | void KX123::soft_reset(){ |
MikkoZ | 2:62891556d47b | 317 | uint8_t reset_ongoing; |
MikkoZ | 2:62891556d47b | 318 | |
MikkoZ | 2:62891556d47b | 319 | i2c_rw.change_bits(_sad, KX122_CNTL2, KX122_CNTL2_SRST, KX122_CNTL2_SRST ); |
MikkoZ | 2:62891556d47b | 320 | do{ |
MikkoZ | 2:62891556d47b | 321 | uint8_t cntl2, read_bytes; |
MikkoZ | 2:62891556d47b | 322 | |
MikkoZ | 2:62891556d47b | 323 | read_bytes = i2c_rw.read_register(_sad, KX122_CNTL2, &cntl2, 1); |
MikkoZ | 2:62891556d47b | 324 | reset_ongoing = ((read_bytes == 0) || (cntl2 & KX122_CNTL2_SRST)); |
MikkoZ | 2:62891556d47b | 325 | } while (reset_ongoing); |
MikkoZ | 2:62891556d47b | 326 | |
MikkoZ | 2:62891556d47b | 327 | return; |
MikkoZ | 2:62891556d47b | 328 | } |
MikkoZ | 2:62891556d47b | 329 | |
MikkoZ | 2:62891556d47b | 330 | /** |
MikkoZ | 2:62891556d47b | 331 | * Verify proper integrated circuit functionality |
MikkoZ | 2:62891556d47b | 332 | * @return true on test fail or setup mode off, false on test ok. |
MikkoZ | 2:62891556d47b | 333 | **/ |
MikkoZ | 2:62891556d47b | 334 | bool KX123::self_test(){ |
MikkoZ | 2:62891556d47b | 335 | uint8_t cotr_value; |
MikkoZ | 2:62891556d47b | 336 | bool read_ok; |
MikkoZ | 2:62891556d47b | 337 | |
MikkoZ | 2:62891556d47b | 338 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 339 | //first read to make sure COTR is in default value |
MikkoZ | 2:62891556d47b | 340 | read_ok = i2c_rw.read_register(_sad, KX122_COTR, &cotr_value, 1); |
MikkoZ | 2:62891556d47b | 341 | read_ok = i2c_rw.read_register(_sad, KX122_COTR, &cotr_value, 1); |
MikkoZ | 2:62891556d47b | 342 | if ((cotr_value != 0x55) || (!read_ok) ){ |
MikkoZ | 2:62891556d47b | 343 | return true; |
MikkoZ | 2:62891556d47b | 344 | } |
MikkoZ | 2:62891556d47b | 345 | i2c_rw.change_bits(_sad, KX122_CNTL2, KX122_CNTL2_COTC, KX122_CNTL2_COTC ); |
MikkoZ | 2:62891556d47b | 346 | read_ok = i2c_rw.read_register(_sad, KX122_COTR, &cotr_value, 1); |
MikkoZ | 2:62891556d47b | 347 | if ((cotr_value != 0xAA) || (!read_ok) ){ |
MikkoZ | 2:62891556d47b | 348 | return true; |
MikkoZ | 2:62891556d47b | 349 | } |
MikkoZ | 2:62891556d47b | 350 | return false; |
MikkoZ | 2:62891556d47b | 351 | } |
MikkoZ | 2:62891556d47b | 352 | |
MikkoZ | 2:62891556d47b | 353 | /** |
MikkoZ | 2:62891556d47b | 354 | * Setup ODR values for Tilt Position, Directional Tap and Motion Detect. |
MikkoZ | 2:62891556d47b | 355 | * @param tilt_position_odr KX122_CNTL3_OTP_* -value or 0xff to skip. |
MikkoZ | 2:62891556d47b | 356 | * @param directional_tap_odr KX122_CNTL3_OTDT_* -value or 0xff to skip. |
MikkoZ | 3:4fd5361ed180 | 357 | * @param motion_wuf_odr motion detect/high-pass odr (KX122_CNTL3_OWUF_* -value) or 0xff to skip. |
MikkoZ | 2:62891556d47b | 358 | * @return true on error or setup mode off, false on setup ok. |
MikkoZ | 2:62891556d47b | 359 | **/ |
MikkoZ | 2:62891556d47b | 360 | bool KX123::set_cntl3_odrs(uint8_t tilt_position_odr, uint8_t directional_tap_odr, uint8_t motion_wuf_odr){ |
MikkoZ | 2:62891556d47b | 361 | uint8_t cntl3; |
MikkoZ | 2:62891556d47b | 362 | bool read_ok; |
MikkoZ | 2:62891556d47b | 363 | |
MikkoZ | 2:62891556d47b | 364 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 365 | |
MikkoZ | 2:62891556d47b | 366 | read_ok = i2c_rw.read_register(_sad, KX122_CNTL3, &cntl3, 1); |
MikkoZ | 2:62891556d47b | 367 | if(!read_ok) return true; |
MikkoZ | 2:62891556d47b | 368 | |
MikkoZ | 2:62891556d47b | 369 | if (tilt_position_odr != 0xff){ |
MikkoZ | 2:62891556d47b | 370 | cntl3 = (cntl3 & ~KX122_CNTL3_OTP_MASK) | (tilt_position_odr & KX122_CNTL3_OTP_MASK); |
MikkoZ | 2:62891556d47b | 371 | } |
MikkoZ | 2:62891556d47b | 372 | if (directional_tap_odr != 0xff){ |
MikkoZ | 2:62891556d47b | 373 | cntl3 = (cntl3 & ~KX122_CNTL3_OTDT_MASK) | (directional_tap_odr & KX122_CNTL3_OTDT_MASK); |
MikkoZ | 2:62891556d47b | 374 | } |
MikkoZ | 2:62891556d47b | 375 | if (motion_wuf_odr != 0xff){ |
MikkoZ | 2:62891556d47b | 376 | cntl3 = (cntl3 & ~KX122_CNTL3_OWUF_MASK) | (motion_wuf_odr & KX122_CNTL3_OWUF_MASK); |
MikkoZ | 2:62891556d47b | 377 | } |
MikkoZ | 2:62891556d47b | 378 | return i2c_rw.write_register(_sad, KX122_CNTL3, cntl3); |
MikkoZ | 2:62891556d47b | 379 | } |
MikkoZ | 2:62891556d47b | 380 | |
MikkoZ | 2:62891556d47b | 381 | /** |
MikkoZ | 2:62891556d47b | 382 | * Setup ODR value, IIR-filter on/off and lowpass filter corner frequency. |
MikkoZ | 2:62891556d47b | 383 | * @param iir_filter_off False to filter ON or true to filter OFF. |
MikkoZ | 2:62891556d47b | 384 | * @param lowpass_filter_freq_half Filter corner frequency setup. False to ODR/9. True to ODR/2. |
MikkoZ | 2:62891556d47b | 385 | * @param odr Output Data Rate using KX122_ODCNTL_OSA_* -definitions. |
MikkoZ | 2:62891556d47b | 386 | * @return true on error or setup mode off, false on setup ok. |
MikkoZ | 2:62891556d47b | 387 | **/ |
MikkoZ | 2:62891556d47b | 388 | bool KX123::set_odcntl(bool iir_filter_off, uint8_t lowpass_filter_freq_half, uint8_t odr){ |
MikkoZ | 2:62891556d47b | 389 | uint8_t odcntl; |
MikkoZ | 2:62891556d47b | 390 | |
MikkoZ | 2:62891556d47b | 391 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 392 | |
MikkoZ | 2:62891556d47b | 393 | odcntl = (odr & KX122_ODCNTL_OSA_MASK); |
MikkoZ | 2:62891556d47b | 394 | if (iir_filter_off){ |
MikkoZ | 2:62891556d47b | 395 | odcntl = (odcntl | KX122_ODCNTL_IIR_BYPASS); |
MikkoZ | 2:62891556d47b | 396 | } |
MikkoZ | 2:62891556d47b | 397 | if (lowpass_filter_freq_half){ |
MikkoZ | 2:62891556d47b | 398 | odcntl = (odcntl | KX122_ODCNTL_LPRO); |
MikkoZ | 2:62891556d47b | 399 | } |
MikkoZ | 2:62891556d47b | 400 | |
MikkoZ | 2:62891556d47b | 401 | return i2c_rw.write_register(_sad, KX122_ODCNTL, odcntl); |
MikkoZ | 2:62891556d47b | 402 | } |
MikkoZ | 2:62891556d47b | 403 | |
MikkoZ | 2:62891556d47b | 404 | /** |
MikkoZ | 2:62891556d47b | 405 | * Setup physical int1 pin, selftest polarity and SPI 3-wire on/off. |
MikkoZ | 2:62891556d47b | 406 | * @param pwsel Pulse width configuration in KX122_INC1_PWSEL1_* values |
MikkoZ | 2:62891556d47b | 407 | * @param physical_int_pin_enabled |
MikkoZ | 2:62891556d47b | 408 | * @param physical_int_pin_active_high (default true) |
MikkoZ | 2:62891556d47b | 409 | * @param physical_int_pin_latch_disabled |
MikkoZ | 2:62891556d47b | 410 | * @param self_test_polarity_positive |
MikkoZ | 2:62891556d47b | 411 | * @param spi3wire_enabled Use 3 wires instead of 4. |
MikkoZ | 2:62891556d47b | 412 | * @return true on error or setup mode off, false on setup ok. |
MikkoZ | 2:62891556d47b | 413 | **/ |
MikkoZ | 2:62891556d47b | 414 | bool KX123::int1_setup(uint8_t pwsel, |
MikkoZ | 2:62891556d47b | 415 | bool physical_int_pin_enabled, |
MikkoZ | 2:62891556d47b | 416 | bool physical_int_pin_active_high, |
MikkoZ | 2:62891556d47b | 417 | bool physical_int_pin_latch_disabled, |
MikkoZ | 2:62891556d47b | 418 | bool self_test_polarity_positive, |
MikkoZ | 2:62891556d47b | 419 | bool spi3wire_enabled){ |
MikkoZ | 2:62891556d47b | 420 | |
MikkoZ | 2:62891556d47b | 421 | uint8_t inc1; |
MikkoZ | 2:62891556d47b | 422 | |
MikkoZ | 2:62891556d47b | 423 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 424 | |
MikkoZ | 2:62891556d47b | 425 | inc1 = (pwsel & KX122_INC1_PWSEL1_MASK); |
MikkoZ | 2:62891556d47b | 426 | if (physical_int_pin_enabled){ |
MikkoZ | 2:62891556d47b | 427 | inc1 = (inc1 | KX122_INC1_IEN1); |
MikkoZ | 2:62891556d47b | 428 | } |
MikkoZ | 2:62891556d47b | 429 | if (physical_int_pin_active_high){ |
MikkoZ | 2:62891556d47b | 430 | inc1 = (inc1 | KX122_INC1_IEA1); |
MikkoZ | 2:62891556d47b | 431 | } |
MikkoZ | 2:62891556d47b | 432 | if (physical_int_pin_latch_disabled){ |
MikkoZ | 2:62891556d47b | 433 | inc1 = (inc1 | KX122_INC1_IEL1); |
MikkoZ | 2:62891556d47b | 434 | } |
MikkoZ | 2:62891556d47b | 435 | if (self_test_polarity_positive){ |
MikkoZ | 2:62891556d47b | 436 | inc1 = (inc1 | KX122_INC1_STPOL); |
MikkoZ | 2:62891556d47b | 437 | } |
MikkoZ | 2:62891556d47b | 438 | if (spi3wire_enabled){ |
MikkoZ | 2:62891556d47b | 439 | inc1 = (inc1 | KX122_INC1_SPI3E); |
MikkoZ | 2:62891556d47b | 440 | } |
MikkoZ | 2:62891556d47b | 441 | return i2c_rw.write_register(_sad, KX122_INC1, inc1); |
MikkoZ | 2:62891556d47b | 442 | } |
MikkoZ | 2:62891556d47b | 443 | |
MikkoZ | 2:62891556d47b | 444 | |
MikkoZ | 2:62891556d47b | 445 | /** |
MikkoZ | 2:62891556d47b | 446 | * Setup physical int2 pin and int1/2 autoclear. |
MikkoZ | 2:62891556d47b | 447 | * @param pwsel Pulse width configuration in KX122_INC1_PWSEL1_* values |
MikkoZ | 2:62891556d47b | 448 | * @param physical_int_pin_enabled |
MikkoZ | 2:62891556d47b | 449 | * @param physical_int_pin_active_high (default true) |
MikkoZ | 2:62891556d47b | 450 | * @param physical_int_pin_latch_disabled |
MikkoZ | 2:62891556d47b | 451 | * @param aclr2_enabled |
MikkoZ | 2:62891556d47b | 452 | * @param aclr1_enabled |
MikkoZ | 2:62891556d47b | 453 | * @return true on error or setup mode off, false on setup ok. |
MikkoZ | 2:62891556d47b | 454 | **/ |
MikkoZ | 2:62891556d47b | 455 | bool KX123::int2_setup(uint8_t pwsel, |
MikkoZ | 2:62891556d47b | 456 | bool physical_int_pin_enabled, |
MikkoZ | 2:62891556d47b | 457 | bool physical_int_pin_active_high, |
MikkoZ | 2:62891556d47b | 458 | bool physical_int_pin_latch_disabled, |
MikkoZ | 2:62891556d47b | 459 | bool aclr2_enabled, |
MikkoZ | 2:62891556d47b | 460 | bool aclr1_enabled){ |
MikkoZ | 2:62891556d47b | 461 | |
MikkoZ | 2:62891556d47b | 462 | uint8_t inc5; |
MikkoZ | 2:62891556d47b | 463 | |
MikkoZ | 2:62891556d47b | 464 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 465 | |
MikkoZ | 2:62891556d47b | 466 | inc5 = (pwsel & KX122_INC5_PWSEL2_MASK); |
MikkoZ | 2:62891556d47b | 467 | if (physical_int_pin_enabled){ |
MikkoZ | 2:62891556d47b | 468 | inc5 = (inc5 | KX122_INC5_IEN2); |
MikkoZ | 2:62891556d47b | 469 | } |
MikkoZ | 2:62891556d47b | 470 | if (physical_int_pin_active_high){ |
MikkoZ | 2:62891556d47b | 471 | inc5 = (inc5 | KX122_INC5_IEA2); |
MikkoZ | 2:62891556d47b | 472 | } |
MikkoZ | 2:62891556d47b | 473 | if (physical_int_pin_latch_disabled){ |
MikkoZ | 2:62891556d47b | 474 | inc5 = (inc5 | KX122_INC5_IEL2); |
MikkoZ | 2:62891556d47b | 475 | } |
MikkoZ | 2:62891556d47b | 476 | if (aclr2_enabled){ |
MikkoZ | 2:62891556d47b | 477 | inc5 = (inc5 | KX122_INC5_ACLR2); |
MikkoZ | 2:62891556d47b | 478 | } |
MikkoZ | 2:62891556d47b | 479 | if (aclr1_enabled){ |
MikkoZ | 2:62891556d47b | 480 | inc5 = (inc5 | KX122_INC5_ACLR1); |
MikkoZ | 2:62891556d47b | 481 | } |
MikkoZ | 2:62891556d47b | 482 | return i2c_rw.write_register(_sad, KX122_INC5, inc5); |
MikkoZ | 2:62891556d47b | 483 | } |
MikkoZ | 2:62891556d47b | 484 | |
MikkoZ | 2:62891556d47b | 485 | /** |
MikkoZ | 2:62891556d47b | 486 | * Select interrupt reasons that can trigger interrupt for int1. |
MikkoZ | 2:62891556d47b | 487 | * @param interrupt_reason One or more e_interrupt_reason -values except doubletap. |
MikkoZ | 2:62891556d47b | 488 | * @return true on error or setup mode off, false on setup ok. |
MikkoZ | 2:62891556d47b | 489 | **/ |
MikkoZ | 2:62891556d47b | 490 | bool KX123::set_int1_interrupt_reason(uint8_t interrupt_reason){ |
MikkoZ | 2:62891556d47b | 491 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 492 | return i2c_rw.write_register(_sad, KX122_INC4, interrupt_reason); |
MikkoZ | 2:62891556d47b | 493 | } |
MikkoZ | 2:62891556d47b | 494 | |
MikkoZ | 2:62891556d47b | 495 | /** |
MikkoZ | 2:62891556d47b | 496 | * Select interrupt reasons that can trigger interrupt for int2. |
MikkoZ | 2:62891556d47b | 497 | * @param interrupt_reason One or more e_interrupt_reason -values except doubletap. |
MikkoZ | 2:62891556d47b | 498 | * @return true on error or setup mode off, false on setup ok. |
MikkoZ | 2:62891556d47b | 499 | **/ |
MikkoZ | 2:62891556d47b | 500 | bool KX123::set_int2_interrupt_reason(uint8_t interrupt_reason){ |
MikkoZ | 2:62891556d47b | 501 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 502 | return i2c_rw.write_register(_sad, KX122_INC6, interrupt_reason); |
MikkoZ | 2:62891556d47b | 503 | } |
MikkoZ | 2:62891556d47b | 504 | |
MikkoZ | 2:62891556d47b | 505 | /** |
MikkoZ | 2:62891556d47b | 506 | * Select axis that are monitored for motion detect interrupt. |
MikkoZ | 2:62891556d47b | 507 | * @param xxyyzz combination of e_axis -values for enabling axis |
MikkoZ | 2:62891556d47b | 508 | * @param axis_and_combination_enabled true for AND or false for OR |
MikkoZ | 2:62891556d47b | 509 | * |
MikkoZ | 2:62891556d47b | 510 | * true for AND configuration = (XN || XP) && (YN || YP) && (ZN || ZP) |
MikkoZ | 2:62891556d47b | 511 | * |
MikkoZ | 2:62891556d47b | 512 | * false for OR configuration = (XN || XP || YN || TP || ZN || ZP) |
MikkoZ | 2:62891556d47b | 513 | * @return true on error or setup mode off, false on setup ok. |
MikkoZ | 2:62891556d47b | 514 | **/ |
MikkoZ | 2:62891556d47b | 515 | bool KX123::set_motion_detect_axis(uint8_t xxyyzz, bool axis_and_combination_enabled){ |
MikkoZ | 2:62891556d47b | 516 | uint8_t inc2; |
MikkoZ | 2:62891556d47b | 517 | |
MikkoZ | 2:62891556d47b | 518 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 519 | |
MikkoZ | 2:62891556d47b | 520 | inc2 = (xxyyzz & KX122_INC2_WUE_MASK); |
MikkoZ | 2:62891556d47b | 521 | if (axis_and_combination_enabled){ |
MikkoZ | 2:62891556d47b | 522 | inc2 = (inc2 | KX122_INC2_AOI_AND); |
MikkoZ | 2:62891556d47b | 523 | } |
MikkoZ | 2:62891556d47b | 524 | return i2c_rw.write_register(_sad, KX122_INC2, inc2); |
MikkoZ | 2:62891556d47b | 525 | } |
MikkoZ | 2:62891556d47b | 526 | |
MikkoZ | 2:62891556d47b | 527 | /** |
MikkoZ | 2:62891556d47b | 528 | * Select axis that are monitored for tap/doubletap interrupt. |
MikkoZ | 2:62891556d47b | 529 | * @param xxyyzz combination of e_axis -values for enabling axis |
MikkoZ | 2:62891556d47b | 530 | * @return true on error or setup mode off, false on setup ok. |
MikkoZ | 2:62891556d47b | 531 | **/ |
MikkoZ | 2:62891556d47b | 532 | bool KX123::set_tap_axis(uint8_t xxyyzz){ |
MikkoZ | 2:62891556d47b | 533 | if (setup_mode_on == false) return true; |
MikkoZ | 2:62891556d47b | 534 | return i2c_rw.write_register(_sad, KX122_INC3, xxyyzz); |
MikkoZ | 2:62891556d47b | 535 | } |
MikkoZ | 2:62891556d47b | 536 |