Diff: KX134.h

Revision:

0:01d5616ba355

Child:

1:c6e2a348da09

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/KX134.h	Tue Sep 22 19:36:06 2020 -0400
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+/**
+ * @author Jasper Swallen
+ * @filename KX134.h
+ *
+ * @section DESCRIPTION
+ *
+ * Software Driver for KX134-1211 accelerometer
+ *
+ * Datasheets:
+ * http://kionixfs.kionix.com/en/document/AN101-Getting-Started.pdf
+ * https://d10bqar0tuhard.cloudfront.net/en/document/KX134-1211-Technical-Reference-Manual-Rev-1.0.pdf
+ * https://d10bqar0tuhard.cloudfront.net/en/document/TN027-Power-On-Procedure.pdf
+ * https://d10bqar0tuhard.cloudfront.net/en/datasheet/KX134-1211-Specifications-Rev-1.0.pdf
+ */
+
+#ifndef KX134_H
+#define KX134_H
+
+#include "mbed.h"
+
+class KX134
+{
+  public:
+    enum class Register : uint8_t
+    {
+        MAN_ID = 0x00,
+        PART_ID = 0x01,
+        XADP_L = 0x02,
+        XADP_H = 0x03,
+        YADP_L = 0x04,
+        YADP_H = 0x05,
+        ZADP_L = 0x06,
+        ZADP_H = 0x07,
+        XOUT_L = 0x08,
+        XOUT_H = 0x09,
+        YOUT_L = 0x0A,
+        YOUT_H = 0x0B,
+        ZOUT_L = 0x0C,
+        ZOUT_H = 0x0D,
+        COTR = 0x12,
+        WHO_AM_I = 0x13,
+        TSCP = 0x14,
+        TSPP = 0x15,
+        INS1 = 0x16,
+        INS2 = 0x17,
+        INS3 = 0x18,
+        STATUS_REG = 0x19,
+        INT_REL = 0x1A,
+        CNTL1 = 0x1B,
+        CNTL2 = 0x1C,
+        CNTL3 = 0x1D,
+        CNTL4 = 0x1E,
+        CNTL5 = 0x1F,
+        CNTL6 = 0x20,
+        ODCNTL = 0x21,
+        INC1 = 0x22,
+        INC2 = 0x23,
+        INC3 = 0x24,
+        INC4 = 0x25,
+        INC5 = 0x26,
+        INC6 = 0x27,
+        TILT_TIMER = 0x29,
+        TDTRC = 0x2A,
+        TDTC = 0x2B,
+        TTH = 0x2C,
+        TTL = 0x2D,
+        FTD = 0x2E,
+        STD = 0x2F,
+        TLT = 0x30,
+        TWS = 0x31,
+        FFTH = 0x32,
+        FFC = 0x33,
+        FFCNTL = 0x34,
+        TILT_ANGLE_LL = 0x37,
+        TILT_ANGLE_HL = 0x38,
+        HYST_SET = 0x39,
+        LP_CNTL1 = 0x3A,
+        LP_CNTL2 = 0x3B,
+        WUFTH = 0x49,
+        BTSWUFTH = 0x4A,
+        BTSTH = 0x4B,
+        BTSC = 0x4C,
+        WUFC = 0x4D,
+        SELF_TEST = 0x5D,
+        BUF_CNTL1 = 0x5E,
+        BUF_CNTL2 = 0x5F,
+        BUF_STATUS_1 = 0x60,
+        BUF_STATUS_2 = 0x61,
+        BUF_CLEAR = 0x62,
+        BUF_READ = 0x63,
+        ADP_CNTL1 = 0x64,
+        ADP_CNTL2 = 0x65,
+        ADP_CNTL3 = 0x66,
+        ADP_CNTL4 = 0x67,
+        ADP_CNTL5 = 0x68,
+        ADP_CNTL6 = 0x69,
+        ADP_CNTL7 = 0x6A,
+        ADP_CNTL8 = 0x6B,
+        ADP_CNTL9 = 0x6C,
+        ADP_CNTL10 = 0x6D,
+        ADP_CNTL11 = 0x6E,
+        ADP_CNTL12 = 0x6F,
+        ADP_CNTL13 = 0x70,
+        ADP_CNTL14 = 0x71,
+        ADP_CNTL15 = 0x72,
+        ADP_CNTL16 = 0x73,
+        ADP_CNTL17 = 0x74,
+        ADP_CNTL18 = 0x75,
+        ADP_CNTL19 = 0x76,
+        INTERNAL_0X7F = 0x7F
+    };
+
+    enum class Range : uint8_t
+    {
+        RANGE_8G = 0b00,
+        RANGE_16G = 0b01,
+        RANGE_32G = 0b10,
+        RANGE_64G = 0b11
+    };
+
+    KX134(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName int1,
+          PinName int2, PinName rst);
+
+    bool init();
+
+    /* Converts a LSB value to gravs
+     * To convert to m/s^2, multiply by 1G (~9.8m/s^2)
+     *
+     * Note:
+     * +-64g: 1LSB = 0.00195g
+     * +-32g: 1LSB = 0.00098g
+     * +-16g: 1LSB = 0.00049g
+     * +-8g: 1LSB = 0.00024g
+     */
+    float convertRawToGravs(int16_t lsbValue);
+
+    /* Changes the value of output[3] as follows:
+     * output[0] is X acceleration
+     * output[1] is Y accel
+     * output[2] is Z accel
+     *
+     * Results are in LSB format, to convert call convertRawToGravs() on each
+     * output
+     */
+    void getAccelerations(int16_t *output);
+
+    /* Verifies the KX134-1211 unit is connected and functioning normally.
+     * If it returns false, call reset() and check again.
+     */
+    bool checkExistence();
+
+    /* To enable writing to settings registers, this function must be called.
+     * After writing settings, register writing is automatically disabled, and
+     * this function must be called again to enable it.
+     */
+    void enableRegisterWriting();
+
+    /* Saves settings as currently set and disables register writing.
+     * Useful for state changes
+     */
+    void disableRegisterWriting();
+
+    // Set acceleration range (8, 16, 32, or 64 gs)
+    void setAccelRange(Range range);
+
+    // Set Output Data Rate Bitwise
+    void setOutputDataRateBytes(uint8_t byteHz);
+
+    // Set Output Data Rate from Hz
+    void setOutputDataRateHz(uint32_t hz);
+
+  private:
+    // Mbed pin identities
+    SPI _spi;
+    PinName _int1, _int2;
+    DigitalOut _cs;
+    DigitalOut _rst;
+
+    /* Reset function
+     * Should be called on initial start (init()) and every software reset
+     */
+    bool reset();
+
+    /* Deselect (push high) _cs
+     */
+    void deselect();
+
+    /* Select (push low) _cs
+     */
+    void select();
+
+    /* Read a given register a given number of bytes
+     *
+     * Note: the first byte read should return 0x0, so the data begins at
+     * rx_buf[1]
+     */
+    void readRegister(Register addr, char *rx_buf, int size = 2);
+
+    /* Writes a given register a given number of bytes
+     *
+     * Note: the first byte read should return 0x0, so the data begins at
+     * rx_buf[1]
+     */
+    void writeRegister(Register addr, uint8_t *data, char *rx_buf,
+                       int size = 1);
+
+    /* Writes a given register 1 byte (convenience function, calls
+     * writeRegister())
+     *
+     * Note: the first byte read should return 0x0, so the data begins at
+     * rx_buf[1]
+     */
+    void writeRegisterOneByte(Register addr, uint8_t data, char *buf);
+
+    /* Reads a value from a low and high address and combines them to create a
+     * signed (2s complement) 16-bit integer
+     */
+    int16_t read16BitValue(Register lowAddr, Register highAddr);
+
+    // Settings variables
+
+    // CNTL1 vars
+    bool resStatus;
+    bool drdyeStatus;
+    bool gsel1Status;
+    bool gsel0Status;
+    bool tdteStatus;
+    bool tpeStatus;
+
+    // ODCNTL vars
+    bool iirBypass;
+    bool lpro;
+    bool fstup;
+    bool osa3;
+    bool osa2;
+    bool osa1;
+    bool osa0;
+
+    bool registerWritingEnabled;
+};
+
+#endif // KX134_H