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Diffstat (limited to 'peripheral/libupm/src/lsm9ds0/lsm9ds0.h')
| -rw-r--r-- | peripheral/libupm/src/lsm9ds0/lsm9ds0.h | 1486 |
1 files changed, 0 insertions, 1486 deletions
diff --git a/peripheral/libupm/src/lsm9ds0/lsm9ds0.h b/peripheral/libupm/src/lsm9ds0/lsm9ds0.h deleted file mode 100644 index 17648d6..0000000 --- a/peripheral/libupm/src/lsm9ds0/lsm9ds0.h +++ /dev/null @@ -1,1486 +0,0 @@ -/* - * Author: Jon Trulson <jtrulson@ics.com> - * Copyright (c) 2015 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/common.hpp> -#include <mraa/i2c.hpp> - -#include <mraa/gpio.hpp> - -#define LSM9DS0_I2C_BUS 1 -#define LSM9DS0_DEFAULT_XM_ADDR 0x1d -#define LSM9DS0_DEFAULT_GYRO_ADDR 0x6b - -namespace upm { - - /** - * @brief LSM9DS0 accelerometer library - * @defgroup lsm9ds0 libupm-lsm9ds0 - * @ingroup i2c gpio accelerometer compass - */ - - /** - * @library lsm9ds0 - * @sensor lsm9ds0 - * @comname LSM9DS0 3-axis Gyroscope, Accelerometer, and Magnetometer - * @type accelerometer compass - * @man sparkfun - * @con i2c gpio - * @web https://www.sparkfun.com/products/13033 - * - * @brief API for the LSM9DS0 3-axis Gyroscope, Accelerometer, - * and Magnetometer - * - * The LSM9DS0 is a system-in-package featuring a 3D digital linear - * acceleration sensor, a 3D digital angular rate sensor, and a 3D - * digital magnetic sensor. - * - * The LSM9DS0 has a linear acceleration full scale of - * 2g/4g/6g/8g/16g, a magnetic field full scale of 2/4/8/12 - * gauss and an angular rate of 245/500/2000 dps. - * - * While not all of the functionality of this device is supported - * initially, methods and register definitions are provided that - * should allow an end user to implement whatever features are - * required. - * - * This driver was developed on a Sparkfun 9DOF edison block. - * - * @image html lsm9ds0.jpg - * <br><em>LSM9DS0 Sensor image provided by SparkFun* under - * <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/> - * CC BY-NC-SA-3.0</a>.</em> - * - * @snippet lsm9ds0.cxx Interesting - */ - - class LSM9DS0 { - public: - - // NOTE: reserved registers must not be written into or permanent - // damage to the device can result. Reserved bitfields must - // always be 0. - - // There are two sub-devices within this device - the - // Accelerometer and Magnetometer (XM) and the Gyroscope (G), each - // with their own I2C address. - - /** - * LSM9DS0 Gyroscope (G) registers - */ - typedef enum { - // 0x00-0x0e reserved - - REG_WHO_AM_I_G = 0x0f, // should be 0xd4 - - // 0x10-0x1f reserved - - REG_CTRL_REG1_G = 0x20, - REG_CTRL_REG2_G = 0x21, - REG_CTRL_REG3_G = 0x22, - REG_CTRL_REG4_G = 0x23, - REG_CTRL_REG5_G = 0x24, - - REG_REFERENCE_G = 0x25, - - // 0x26 reserved - - REG_STATUS_REG_G = 0x27, - - REG_OUT_X_L_G = 0x28, // gyro output, X axis, LSB - REG_OUT_X_H_G = 0x29, // gyro output, X axis, MSB - REG_OUT_Y_L_G = 0x2a, - REG_OUT_Y_H_G = 0x2b, - REG_OUT_Z_L_G = 0x2c, - REG_OUT_Z_H_G = 0x2d, - - REG_FIFO_CTRL_REG_G = 0x2e, - REG_FIFO_SRC_REG_G = 0x2f, - - REG_INT1_CFG_G = 0x30, - REG_INT1_SRC_G = 0x31, - - REG_INT1_TSH_XH_G = 0x32, // interrupt threshold registers - REG_INT1_TSH_XL_G = 0x33, - REG_INT1_TSH_YH_G = 0x34, - REG_INT1_TSH_YL_G = 0x35, - REG_INT1_TSH_ZH_G = 0x36, - REG_INT1_TSH_ZL_G = 0x37, - - // See fig 19 & 20 and preceeding description in the datasheet - // on how to use this register - REG_INT1_DURATION_G = 0x38 - } REG_G_T; - - /** - * Gyro CTRL_REG1_G bits - */ - typedef enum { - CTRL_REG1_G_YEN = 0x01, // Y enable, odd ordering... - CTRL_REG1_G_XEN = 0x02, - CTRL_REG1_G_ZEN = 0x04, - CTRL_REG1_G_PD = 0x08, // power down (0) - - CTRL_REG1_G_BW0 = 0x10, // bandwidth - CTRL_REG1_G_BW1 = 0x20, - _CTRL_REG1_G_BW_MASK = 3, - _CTRL_REG1_G_BW_SHIFT = 4, - - CTRL_REG1_G_DR0 = 0x40, // data rate - CTRL_REG1_G_DR1 = 0x80, - _CTRL_REG1_G_DR_MASK = 3, - _CTRL_REG1_G_DR_SHIFT = 6, - - // The following are synthetic register and shift/mask - // definitions. Together both BW and DR setup the device for a - // specific output data rate (ODR) and cutoff frequency. These - // definitions allow us to use a more informative configuration - // for these 4 bits, rather than having the user go to the - // datasheet to figure out what to put for those values in order - // to get the desired ODR/cutoff. These are the values we will - // use in this driver. - - CTRL_REG1_G_ODR0 = 0x10, // BW0 - CTRL_REG1_G_ODR1 = 0x20, // BW1 - CTRL_REG1_G_ODR2 = 0x40, // DR0 - CTRL_REG1_G_ODR3 = 0x80, // DR1 - _CTRL_REG1_G_ODR_MASK = 15, - _CTRL_REG1_G_ODR_SHIFT = 4 - } CTRL_REG1_G_BITS_T; - - /** - * CRTL_REG1_G_ODR values - */ - typedef enum { - G_ODR_95_12_5 = 0, // ODR = 95Hz, cutoff = 12.5 - G_ODR_95_25 = 1, // ODR = 95Hz, cutoff = 25 - // Other two (2 and 3) are the same (95_25) - - G_ODR_190_12_5 = 4, - G_ODR_190_25 = 5, - G_ODR_190_50 = 6, - G_ODR_190_70 = 7, - - G_ODR_380_20 = 8, - G_ODR_380_25 = 9, - G_ODR_380_50 = 10, - G_ODR_380_100 = 11, - - G_ODR_760_30 = 12, - G_ODR_760_35 = 13, - G_ODR_760_50 = 14, - G_ODR_760_100 = 15 - } G_ODR_T; - - /** - * Gyro CTRL_REG2_G bits - */ - typedef enum { - CTRL_REG2_G_HPCF0 = 0x01, // high-pass cutoff freq - CTRL_REG2_G_HPCF1 = 0x02, - CTRL_REG2_G_HPCF2 = 0x04, - CTRL_REG2_G_HPCF3 = 0x08, - _CTRL_REG2_G_HPCF_MASK = 15, - _CTRL_REG2_G_HPCF_SHIFT = 0, - - CTRL_REG2_G_HPM0 = 0x10, // high-pass filter mode - CTRL_REG2_G_HPM1 = 0x20, - _CTRL_REG2_G_HPM_MASK = 3, - _CTRL_REG2_G_HPM_SHIFT = 4, - - // 0x40, 0x80 reserved - } CTRL_REG2_G_BITS_T; - - /** - * CRTL_REG2_G_HPCF values - * - * See table 26 in the datasheet, as these depend on your data - * rate (ODR). We will label these according to the 95Hz column, - * but of course the actual cutoff frequency depends on ODR. - */ - typedef enum { - G_HPCF_7_2 = 0, // 7.2 Hz (if ODR is 95Hz) - G_HPCF_3_5 = 1, - G_HPCF_1_8 = 2, - G_HPCF_0_9 = 3, // 0.9Hz - G_HPCF_0_45 = 4, - G_HPCF_0_18 = 5, - G_HPCF_0_09 = 6, - G_HPCF_0_045 = 7, - G_HPCF_0_018 = 8, - G_HPCF_0_009 = 9 - - // 10-15 unused - } G_HPCF_T; - - /** - * CRTL_REG2_G_HPM values - * - */ - typedef enum { - G_HPM_NORMAL_RESET_HPF = 0, // reset reading (HP_RESET_FILTER) - G_HPM_REFERENCE = 1, // REF signal for filtering - G_HPM_NORMAL = 2, // normal mode - G_HPM_AUTORESET_ON_INTR = 3 // autoreset in interrupt event - } G_HPM_T; - - /** - * Gyro CTRL_REG3_G bits (interrupt G config) - */ - typedef enum { - CTRL_REG3_G_I2_EMPTY = 0x01, // FIFO empty on DRDY_G - CTRL_REG3_G_I2_ORUN = 0x02, // FIFO Overrun intr - CTRL_REG3_G_I2_WTM = 0x04, // FIFO watermark intr - CTRL_REG3_G_I2_DRDY = 0x08, // data ready on DRDY_G - CTRL_REG3_G_PP_OD = 0x10, // push-pull/open drain - CTRL_REG3_G_H_LACTIVE = 0x20, - CTRL_REG3_G_I1_BOOT = 0x40, - CTRL_REG3_G_I1_INT1 = 0x80, // intr enable on INT_G pin - } CTRL_REG3_G_BITS_T; - - /** - * Gyro CTRL_REG4_G bits - */ - typedef enum { - CTRL_REG4_G_SIM = 0x01, // SPI mode selection - - CTRL_REG4_G_ST0 = 0x02, // self test enables - CTRL_REG4_G_ST1 = 0x04, - _CTRL_REG4_G_ST_MASK = 3, - _CTRL_REG4_G_ST_SHIFT = 1, - - // 0x08 reserved - - CTRL_REG4_G_FS0 = 0x10, // full scale selection - CTRL_REG4_G_FS1 = 0x20, - _CTRL_REG4_G_FS_MASK = 3, - _CTRL_REG4_G_FS_SHIFT = 4, - - CTRL_REG4_G_BLE = 0x40, // big/little endian data selection - CTRL_REG4_G_BDU = 0x80 // block data updates - } CTRL_REG4_G_BITS_T; - - /** - * CRTL_REG4_G_ST values - * - */ - typedef enum { - G_ST_NORMAL = 0, // normal mode - G_ST_SELFTEST0 = 1, // x+, y-, z- - - // 2, reserved - - G_ST_SELFTEST1 = 3 // x-, y+, z+ - } G_ST_T; - - /** - * CRTL_REG4_G_FS values - * - */ - typedef enum { - G_FS_245 = 0, // 245 deg/sec - G_FS_500 = 1, - G_FS_2000 = 2 - // 3 is also 2000 - } G_FS_T; - - /** - * Gyro CTRL_REG5_G bits - */ - typedef enum { - CTRL_REG5_G_OUTSEL0 = 0x01, // see fig. 18 in the datasheet - CTRL_REG5_G_OUTSEL1 = 0x02, - _CTRL_REG5_G_OUTSEL_MASK = 3, - _CTRL_REG5_G_OUTSEL_SHIFT = 0, - - CTRL_REG5_G_INT1SEL0 = 0x04, // see fig. 18 in the datasheet - CTRL_REG5_G_INT1SEL1 = 0x08, - _CTRL_REG5_G_INT1SEL_MASK = 3, - _CTRL_REG5_G_INT1SEL_SHIFT = 2, - - CTRL_REG5_G_HPEN = 0x10, // HPF enable - - // 0x20 reserved - - CTRL_REG5_G_FIFO_EN = 0x40, - CTRL_REG5_G_BOOT = 0x80 // reboot memory content - } CTRL_REG5_G_BITS_T; - - - /** - * CRTL_REG5_G_OUTSEL and INT1SEL values. See Figure 18 in the - * datasheet. - */ - typedef enum { - G_INT1OUTSEL_0 = 0, - G_INT1OUTSEL_1 = 1, - G_INT1OUTSEL_2 = 2, - G_INT1OUTSEL_3 = 3 - } G_INT1OUTSEL_T; - - /** - * Gyro STATUS_REG_G bits - */ - typedef enum { - STATUS_REG_G_XDA = 0x01, // X axis data available - STATUS_REG_G_YDA = 0x02, - STATUS_REG_G_ZDA = 0x04, - STATUS_REG_G_ZYXDA = 0x08, // X, Y, and Z data available - - STATUS_REG_G_XOR = 0x10, // X data overrun - STATUS_REG_G_YOR = 0x20, - STATUS_REG_G_ZOR = 0x40, - STATUS_REG_G_ZYXOR = 0x80 - } STATUS_REG_G_BITS_T; - - /** - * Gyro FIFO_CTRL_REG_G bits - */ - typedef enum { - FIFO_CTRL_REG_G_WTM0 = 0x01, // FIFO watermark - FIFO_CTRL_REG_G_WTM1 = 0x02, - FIFO_CTRL_REG_G_WTM2 = 0x04, - FIFO_CTRL_REG_G_WTM3 = 0x08, - FIFO_CTRL_REG_G_WTM4 = 0x10, - _FIFO_CTRL_REG_G_WTM_MASK = 31, - _FIFO_CTRL_REG_G_WTM_SHIFT = 0, - - FIFO_CTRL_REG_G_FM0 = 0x20, // FIFO mode config - FIFO_CTRL_REG_G_FM1 = 0x40, - FIFO_CTRL_REG_G_FM2 = 0x80, - _FIFO_CTRL_REG_G_FM_MASK = 7, - _FIFO_CTRL_REG_G_FM_SHIFT = 5, - } FIFO_CTRL_REG_G_T; - - // FIFO_CTRL_REG_G_WTM (FIFO watermark) is just a numeric value - // between 0-31, so we won't enumerate those values. - - /** - * FIFO_CTRL_REG_G_FM values (FIFO Modes) - * - */ - typedef enum { - G_FM_BYPASS = 0, - G_FM_FIFO = 1, - G_FM_STREAM = 2, - G_FM_STREAM2FIFO = 3, - G_FM_BYPASS2STREAM = 4 - - // 5-7 unused - } G_FM_T; - - /** - * FIFO_SRC_REG_G bits - * - */ - typedef enum { - FIFO_CTRL_REG_G_FSS0 = 0x01, // FIFO stored data level - FIFO_CTRL_REG_G_FSS1 = 0x02, - FIFO_CTRL_REG_G_FSS2 = 0x04, - FIFO_CTRL_REG_G_FSS3 = 0x08, - FIFO_CTRL_REG_G_FSS4 = 0x10, - _FIFO_CTRL_REG_G_FSS_MASK = 31, - _FIFO_CTRL_REG_G_FSS_SHIFT = 0, - - FIFO_CTRL_REG_G_EMPTY = 0x20, // FIFO empty - FIFO_CTRL_REG_G_OVRN = 0x40, // FIFO overrun - FIFO_CTRL_REG_G_WTM = 0x80 // watermark status - } FIFO_SRC_REG_G_BITS_T; - - /** - * INT1_CFG_G bits - * - */ - typedef enum { - INT1_CFG_G_XLIE = 0x01, // X Low event interrupt enable - INT1_CFG_G_XHIE = 0x02, // X High event interrupt enable - INT1_CFG_G_YLIE = 0x04, - INT1_CFG_G_YHIE = 0x08, - INT1_CFG_G_ZLIE = 0x10, - INT1_CFG_G_ZHIE = 0x20, - - INT1_CFG_G_LIR = 0x40, // latch interrupt request - INT1_CFG_G_ANDOR = 0x80 // OR or AND interrupt events - } INT1_CFG_G_BITS_T; - - /** - * INT1_SRC_G bits - * - */ - typedef enum { - INT1_SRC_G_XL = 0x01, // X low interrupt - INT1_SRC_G_XH = 0x02, // X high interrupt - INT1_SRC_G_YL = 0x04, - INT1_SRC_G_YH = 0x08, - INT1_SRC_G_ZL = 0x10, - INT1_SRC_G_ZH = 0x20, - - INT1_SRC_G_IA = 0x40 // interrupt active - - // 0x80 reserved - } INT1_SRC_G_BITS_T; - - // The following registers are for the Accelerometer (A/X), - // Magnetometer (M), and Temperature device. - - /** - * LSM9DS0 Accelerometer (X) and Magnetometer (M) registers - */ - typedef enum { - // 0x00-0x04 reserved - - REG_OUT_TEMP_L_XM = 0x05, // temperature - REG_OUT_TEMP_H_XM = 0x06, - - REG_STATUS_REG_M = 0x07, - - REG_OUT_X_L_M = 0x08, // magnetometer outputs - REG_OUT_X_H_M = 0x09, - REG_OUT_Y_L_M = 0x0a, - REG_OUT_Y_H_M = 0x0b, - REG_OUT_Z_L_M = 0x0c, - REG_OUT_Z_H_M = 0x0d, - - // 0x0e reserved - - REG_WHO_AM_I_XM = 0x0f, - - // 0x10, 0x11 reserved - - REG_INT_CTRL_REG_M = 0x12, - REG_INT_SRC_REG_M = 0x13, - - REG_INT_THS_L_M = 0x14, // magnetometer threshold - REG_INT_THS_H_M = 0x15, - - REG_OFFSET_X_L_M = 0x16, - REG_OFFSET_X_H_M = 0x17, - REG_OFFSET_Y_L_M = 0x18, - REG_OFFSET_Y_H_M = 0x19, - REG_OFFSET_Z_L_M = 0x1a, - REG_OFFSET_Z_H_M = 0x1b, - - REG_REFERENCE_X = 0x1c, - REG_REFERENCE_Y = 0x1d, - REG_REFERENCE_Z = 0x1e, - - REG_CTRL_REG0_XM = 0x1f, - REG_CTRL_REG1_XM = 0x20, - REG_CTRL_REG2_XM = 0x21, - REG_CTRL_REG3_XM = 0x22, - REG_CTRL_REG4_XM = 0x23, - REG_CTRL_REG5_XM = 0x24, - REG_CTRL_REG6_XM = 0x25, - REG_CTRL_REG7_XM = 0x26, - - REG_STATUS_REG_A = 0x27, - - REG_OUT_X_L_A = 0x28, // accelerometer outputs - REG_OUT_X_H_A = 0x29, - REG_OUT_Y_L_A = 0x2a, - REG_OUT_Y_H_A = 0x2b, - REG_OUT_Z_L_A = 0x2c, - REG_OUT_Z_H_A = 0x2d, - - REG_FIFO_CTRL_REG = 0x2e, - REG_FIFO_SRC_REG = 0x2f, - - REG_INT_GEN_1_REG = 0x30, - REG_INT_GEN_1_SRC = 0x31, - REG_INT_GEN_1_THS = 0x32, - REG_INT_GEN_1_DURATION = 0x33, - - REG_INT_GEN_2_REG = 0x34, - REG_INT_GEN_2_SRC = 0x35, - REG_INT_GEN_2_THS = 0x36, - REG_INT_GEN_2_DURATION = 0x37, - - REG_CLICK_CFG = 0x38, - REG_CLICK_SRC = 0x39, - REG_CLICK_THS = 0x3a, - - REG_TIME_LIMIT = 0x3b, - REG_TIME_LATENCY = 0x3c, - REG_TIME_WINDOW = 0x3d, - - REG_ACT_THS = 0x3e, - REG_ACT_DUR = 0x3f - } REG_XM_T; - - /** - * XM STATUS_REG_M bits - */ - typedef enum { - STATUS_REG_M_XMDA = 0x01, // X mag axis data available - STATUS_REG_M_YMDA = 0x02, - STATUS_REG_M_ZMDA = 0x04, - STATUS_REG_M_ZYXMDA = 0x08, // X, Y, and Z mag data available - - STATUS_REG_M_XMOR = 0x10, // X mag data overrun - STATUS_REG_M_YMOR = 0x20, - STATUS_REG_M_ZMOR = 0x40, - STATUS_REG_M_ZYXMOR = 0x80 - } STATUS_REG_M_BITS_T; - - /** - * INT_CTRL_REG_M bits - */ - typedef enum { - INT_CTRL_REG_M_MIEN = 0x01, // mag interrupt enable - INT_CTRL_REG_M_4D = 0x02, - INT_CTRL_REG_M_IEL = 0x04, // latch intr request - INT_CTRL_REG_M_IEA = 0x08, - INT_CTRL_REG_M_PP_OD = 0x10, // push-pull/open drian - INT_CTRL_REG_M_ZMIEN = 0x20, // Z mag axis interrupt recognition - INT_CTRL_REG_M_YMIEN = 0x40, - INT_CTRL_REG_M_XMIEN = 0x80 - } INT_CTRL_REG_M_BITS_T; - - /** - * INT_SRC_REG_M bits - */ - typedef enum { - INT_SRC_REG_M_MINT = 0x01, - INT_SRC_REG_M_MROI = 0x02, - INT_SRC_REG_M_NTH_Z = 0x04, - INT_SRC_REG_M_NTH_Y = 0x08, - INT_SRC_REG_M_NTH_X = 0x10, - INT_SRC_REG_M_PTH_Z = 0x20, - INT_SRC_REG_M_PTH_Y = 0x40, - INT_SRC_REG_M_PTH_X = 0x80 - } INT_SRC_REG_M_BITS_T; - - - /** - * CTRL_REG0_XM bits - */ - typedef enum { - CTRL_REG0_XM_HPIS2 = 0x01, // HPF enable for int generator 2 - CTRL_REG0_XM_HPIS1 = 0x02, - - CTRL_REG0_XM_HP_CLICK = 0x04, // HPF enable for click - - // 0x08,0x10 reserved - - CTRL_REG0_XM_WTM_LEN = 0x20, // watermark enable - CTRL_REG0_XM_FIFO_EN = 0x40, // FIFO enable - CTRL_REG0_XM_BOOT = 0x80 // reboot memory content - } CTRL_REG0_XM_BITS_T; - - /** - * CTRL_REG1_XM bits - */ - typedef enum { - CTRL_REG1_XM_AXEN = 0x01, // accelerometer x axis enable - CTRL_REG1_XM_AYEN = 0x02, - CTRL_REG1_XM_AZEN = 0x03, - - CTRL_REG1_XM_BDU = 0x04, // block data update - - CTRL_REG1_XM_AODR0 = 0x10, // accelerometer output data rate - CTRL_REG1_XM_AODR1 = 0x20, - CTRL_REG1_XM_AODR2 = 0x40, - CTRL_REG1_XM_AODR3 = 0x80, - _CTRL_REG1_XM_AODR_MASK = 15, - _CTRL_REG1_XM_AODR_SHIFT = 4 - } CTRL_REG1_XM_BITS_T; - - /** - * CTRL_REG1_XM_AODR values - */ - typedef enum { - XM_AODR_PWRDWN = 0, // power down mode - XM_AODR_3_125 = 1, // 3.125 Hz - XM_AODR_6_25 = 2, - XM_AODR_12_5 = 3, - XM_AODR_25 = 4, // 25Hz - XM_AODR_50 = 5, - XM_AODR_100 = 6, - XM_AODR_200 = 7, - XM_AODR_400 = 8, - XM_AODR_800 = 9, - XM_AODR_1000 = 10 - // 11-15 unused - } XM_AODR_T; - - /** - * CTRL_REG2_XM bits - */ - typedef enum { - CTRL_REG2_XM_SIM = 0x01, - - CTRL_REG2_XM_AST0 = 0x02, // accel self-test enable - CTRL_REG2_XM_AST1 = 0x04, - _CTRL_REG2_XM_AST_MASK = 3, - _CTRL_REG2_XM_AST_SHIFT = 1, - - CTRL_REG2_XM_AFS0 = 0x08, // accel full scale - CTRL_REG2_XM_AFS1 = 0x10, - CTRL_REG2_XM_AFS2 = 0x20, - _CTRL_REG2_XM_AFS_MASK = 7, - _CTRL_REG2_XM_AFS_SHIFT = 3, - - CTRL_REG2_XM_ABW0 = 0x40, // accel anti-alias filter bandwidth - CTRL_REG2_XM_ABW1 = 0x80, - _CTRL_REG2_XM_ABW_MASK = 3, - _CTRL_REG2_XM_ABW_SHIFT = 6 - } CTRL_REG2_XM_BITS_T; - - /** - * CTRL_REG2_XM_AST values - */ - typedef enum { - XM_AST_NORMAL = 0, - XM_AST_POS_SIGN = 1, - XM_AST_NEG_SIGN = 2 - // 3 not allowed - } XM_AST_T; - - /** - * CTRL_REG2_XM_AFS (accel full scale) values - */ - typedef enum { - XM_AFS_2 = 0, // 2g - XM_AFS_4 = 1, - XM_AFS_6 = 2, - XM_AFS_8 = 3, - XM_AFS_16 = 4 - - // 5-7 not used - } XM_AFS_T; - - /** - * CTRL_REG2_XM_ABW (accel anti-alias filter bandwidth) values - */ - typedef enum { - XM_ABW_773 = 0, // 773Hz - XM_ABW_194 = 1, // these two might be inverted (typo in ds) - XM_ABW_362 = 2, - XM_ABW_50 = 3 - } XM_ABW_T; - - /** - * CTRL_REG3_XM bits - */ - typedef enum { - CTRL_REG3_XM_P1_EMPTY = 0x01, // INT1_XM pin enables - CTRL_REG3_XM_P1_DRDYM = 0x02, - CTRL_REG3_XM_P1_DRDYA = 0x04, - CTRL_REG3_XM_P1_INTM = 0x08, - CTRL_REG3_XM_P1_INT2 = 0x10, - CTRL_REG3_XM_P1_INT1 = 0x20, - CTRL_REG3_XM_P1_TAP = 0x40, - CTRL_REG3_XM_P1_BOOT = 0x80 - } CTRL_REG3_XM_BITS_T; - - /** - * CTRL_REG4_XM bits - */ - typedef enum { - CTRL_REG4_XM_P2_WTM = 0x01, // INT2_XM pin enables - CTRL_REG4_XM_P2_OVERRUN = 0x02, - CTRL_REG4_XM_P2_DRDYM = 0x04, - CTRL_REG4_XM_P2_DRDYA = 0x08, - CTRL_REG4_XM_P2_INTM = 0x10, - CTRL_REG4_XM_P2_INT2 = 0x20, - CTRL_REG4_XM_P2_INT1 = 0x40, - CTRL_REG4_XM_P2_TAP = 0x80 - } CTRL_REG4_XM_BITS_T; - - /** - * CTRL_REG5_XM bits - */ - typedef enum { - CTRL_REG5_XM_LIR1 = 0x01, // latch intr 1 - CTRL_REG5_XM_LIR2 = 0x02, // latch intr 2 - - CTRL_REG5_XM_ODR0 = 0x04, // mag output data rate - CTRL_REG5_XM_ODR1 = 0x08, - CTRL_REG5_XM_ODR2 = 0x10, - _CTRL_REG5_XM_ODR_MASK = 7, - _CTRL_REG5_XM_ODR_SHIFT = 2, - - CTRL_REG5_XM_RES0 = 0x20, // mag resolution - CTRL_REG5_XM_RES1 = 0x40, - _CTRL_REG5_XM_RES_MASK = 3, - _CTRL_REG5_XM_RES_SHIFT = 5, - - CTRL_REG5_XM_TEMP_EN = 0x80 // temp sensor enable - } CTRL_REG5_XM_BITS_T; - - /** - * CTRL_REG5_XM_ODR (magnetometer output data rate) values - */ - typedef enum { - XM_ODR_3_125 = 0, // 3.125Hz - XM_ODR_6_25 = 1, - XM_ODR_12_5 = 2, - XM_ODR_25 = 3, - XM_ODR_50 = 4, - XM_ODR_100 = 5 - - // 6, 7 reserved - } XM_ODR_T; - - /** - * CTRL_REG5_XM_RES (magnetometer resolution) values - */ - typedef enum { - XM_RES_LOW = 0, // low resolution - - // 1, 2 reserved - - XM_RES_HIGH = 3, - } XM_RES_T; - - /** - * CTRL_REG6_XM bits - */ - typedef enum { - // 0x01-0x10 reserved - - CTRL_REG6_XM_MFS0 = 0x20, - CTRL_REG6_XM_MFS1 = 0x40, - _CTRL_REG6_XM_MFS_MASK = 3, - _CTRL_REG6_XM_MFS_SHIFT = 5 - - // 0x80 reserved - } CTRL_REG6_XM_BITS_T; - - /** - * CTRL_REG6_XM_MFS (magnetometer full scale) values - */ - typedef enum { - XM_MFS_2 = 0, // +/- 2 gauss - XM_MFS_4 = 1, - XM_MFS_8 = 2, - XM_MFS_12 = 3 - } XM_MFS_T; - - /** - * CTRL_REG7_XM bits - */ - typedef enum { - CTRL_REG7_XM_MD0 = 0x01, // mag sensor mode - CTRL_REG7_XM_MD1 = 0x02, - _CTRL_REG7_XM_MD_MASK = 3, - _CTRL_REG7_XM_MD_SHIFT = 0, - - CTRL_REG7_XM_MLP = 0x04, // mag low power mode - - // 0x08, 0x10 reserved - - CTRL_REG7_XM_AFDS = 0x20, // filtered acceleration data - - CTRL_REG7_XM_AHPM0 = 0x40, // accel HPF selection - CTRL_REG7_XM_AHPM1 = 0x80, - _CTRL_REG7_XM_AHPM_MASK = 3, - _CTRL_REG7_XM_AHPM_SHIFT = 6 - } CTRL_REG7_XM_BITS_T; - - /** - * CTRL_REG7_XM_MD (magnetometer sensor mode) values - */ - typedef enum { - XM_MD_CONTINUOUS = 0, // continuous conversion - XM_MD_SINGLE = 1, // single conversion - XM_MD_POWERDOWN = 2 // power down mode - // 3 is also power down mode, for some odd reason - } XM_MD_T; - - /** - * CTRL_REG7_AHPM_MD (accel high-pass filter mode) values - */ - typedef enum { - // XM_AHPM_NORMAL_REF: Normal mode (resets x, y and z-axis - // reading REFERENCE_X (1Ch), REFERENCE_Y (1Dh) and REFERENCE_Y - // (1Dh) registers respectively) - - XM_AHPM_NORMAL_REF = 0, - XM_AHPM_REFERENCE = 1, - XM_AHPM_NORMAL = 2, - XM_AHPM_AUTORESET = 3 // autoreset on interrupt - } XM_AHPM_T; - - /** - * XM STATUS_REG_A bits - */ - typedef enum { - STATUS_REG_A_XADA = 0x01, // X accel axis data available - STATUS_REG_A_YADA = 0x02, - STATUS_REG_A_ZADA = 0x04, - STATUS_REG_A_ZYXADA = 0x08, // X, Y, and Z accel data available - - STATUS_REG_A_XAOR = 0x10, // X accel data overrun - STATUS_REG_A_YAOR = 0x20, - STATUS_REG_A_ZAOR = 0x40, - STATUS_REG_A_ZYXAOR = 0x80 - } STATUS_REG_A_BITS_T; - - /** - * XM FIFO_CTRL_REG bits - */ - typedef enum { - FIFO_CTRL_REG_FTH0 = 0x01, // FIFO watermark/threshold - FIFO_CTRL_REG_FTH1 = 0x02, - FIFO_CTRL_REG_FTH2 = 0x04, - FIFO_CTRL_REG_FTH3 = 0x08, - FIFO_CTRL_REG_FTH4 = 0x10, - _FIFO_CTRL_REG_FTH_MASK = 31, - _FIFO_CTRL_REG_FTH_SHIFT = 0, - - FIFO_CTRL_REG_FM0 = 0x20, // FIFO mode config - FIFO_CTRL_REG_FM1 = 0x40, - FIFO_CTRL_REG_FM2 = 0x80, - _FIFO_CTRL_REG_FM_MASK = 7, - _FIFO_CTRL_REG_FM_SHIFT = 5, - } FIFO_CTRL_REG_T; - - // FIFO_CTRL_REG_FTH (FIFO watermark/threshold) is just a numeric - // value between 0-31, so we won't enumerate those values. - - /** - * XM FIFO_CTRL_REG_FM values (FIFO Modes) - * - */ - typedef enum { - FM_BYPASS = 0, - FM_FIFO = 1, - FM_STREAM = 2, - FM_STREAM2FIFO = 3, - FM_BYPASS2STREAM = 4 - - // 5-7 unused - } FM_T; - - /** - * FIFO_SRC_REG bits - * - */ - typedef enum { - FIFO_CTRL_REG_FSS0 = 0x01, // FIFO stored data level - FIFO_CTRL_REG_FSS1 = 0x02, - FIFO_CTRL_REG_FSS2 = 0x04, - FIFO_CTRL_REG_FSS3 = 0x08, - FIFO_CTRL_REG_FSS4 = 0x10, - _FIFO_CTRL_REG_FSS_MASK = 31, - _FIFO_CTRL_REG_FSS_SHIFT = 0, - - FIFO_CTRL_REG_EMPTY = 0x20, // FIFO empty - FIFO_CTRL_REG_OVRN = 0x40, // FIFO overrun - FIFO_CTRL_REG_WTM = 0x80 // watermark status - } FIFO_SRC_REG_BITS_T; - - /** - * INT_GEN_1_REG and INT_GEN_2_REG (GEN_X) bits - * - */ - typedef enum { - INT_GEN_X_REG_XLIE_XDOWNE = 0x01, // enable intr on X low or dir recog - INT_GEN_X_REG_XHIE_XUPE = 0x02, - INT_GEN_X_REG_YLIE_YDOWNE = 0x04, - INT_GEN_X_REG_YHIE_YUPE = 0x08, - INT_GEN_X_REG_ZLIE_ZDOWNE = 0x10, - INT_GEN_X_REG_ZHIE_ZUPE = 0x20, - INT_GEN_X_REG_6D = 0x40, // enable 6D direction function - INT_GEN_X_REG_AOI = 0x80 // AND/OR combination of intrs - } INT_GEN_X_REG_BITS_T; - - /** - * INT_GEN_1_SRC and INT_GEN_2_SRC (GEN_X) bits - * - */ - typedef enum { - INT_GEN_X_SRC_XL = 0x01, - INT_GEN_X_SRC_XH = 0x02, - INT_GEN_X_SRC_YL = 0x04, - INT_GEN_X_SRC_YH = 0x08, - INT_GEN_X_SRC_ZL = 0x10, - INT_GEN_X_SRC_ZH = 0x20, - INT_GEN_X_SRC_IA = 0x40 - // 0x80 reserved - } INT_GEN_X_SRC_BITS_T; - - /** - * INT_GEN_1_THS and INT_GEN_2_THS (GEN_X) bits - * - */ - typedef enum { - INT_GEN_X_THS0 = 0x01, // interrupt threshold - INT_GEN_X_THS1 = 0x02, - INT_GEN_X_THS2 = 0x04, - INT_GEN_X_THS3 = 0x08, - INT_GEN_X_THS4 = 0x10, - INT_GEN_X_THS5 = 0x20, - INT_GEN_X_THS6 = 0x40, - _INT_GEN_X_THS_MASK = 127, - _INT_GEN_X_THS_SHIFT = 0 - // 0x80 reserved - } INT_GEN_X_THS_BITS_T; - - /** - * INT_GEN_1_DUR and INT_GEN_2_DUR (GEN_X) bits - * - */ - typedef enum { - INT_GEN_X_DUR0 = 0x01, // interrupt duration - INT_GEN_X_DUR1 = 0x02, - INT_GEN_X_DUR2 = 0x04, - INT_GEN_X_DUR3 = 0x08, - INT_GEN_X_DUR4 = 0x10, - INT_GEN_X_DUR5 = 0x20, - INT_GEN_X_DUR6 = 0x40, - _INT_GEN_X_DUR_MASK = 127, - _INT_GEN_X_DUR_SHIFT = 0 - // 0x80 reserved - } INT_GEN_X_DUR_BITS_T; - - /** - * CLICK_CONFIG bits - * - */ - typedef enum { - CLICK_CONFIG_XS = 0x01, // enable intr single click x - CLICK_CONFIG_XD = 0x02, // enable intr double click x - CLICK_CONFIG_YS = 0x04, - CLICK_CONFIG_YD = 0x08, - CLICK_CONFIG_ZS = 0x10, - CLICK_CONFIG_ZD = 0x20 - // 0x40, 0x80 reserved - } CLICK_CONFIG_BITS_T; - - /** - * CLICK_SRC bits - * - */ - typedef enum { - CLICK_SRC_X = 0x01, - CLICK_SRC_Y = 0x02, - CLICK_SRC_Z = 0x04, - CLICK_SRC_SIGN = 0x08, - CLICK_SRC_SCLICK = 0x10, - CLICK_SRC_DCLICK = 0x20, - CLICK_SRC_IA = 0x40 - // 0x80 reserved - } CLICK_SRC_BITS_T; - - /** - * CLICK_THS bits - * - */ - typedef enum { - CLICK_THS_THS0 = 0x01, // click threshold - CLICK_THS_THS1 = 0x02, - CLICK_THS_THS2 = 0x04, - CLICK_THS_THS3 = 0x08, - CLICK_THS_THS4 = 0x10, - CLICK_THS_THS5 = 0x20, - CLICK_THS_THS6 = 0x40, - _CLICK_THS_THS_MASK = 127, - _CLICK_THS_THS_SHIFT = 0 - // 0x80 reserved - } CLICK_THS_BITS_T; - - /** - * CLICK_TIME_LIMIT bits - * - */ - typedef enum { - CLICK_TIME_LIMIT_TLI0 = 0x01, - CLICK_TIME_LIMIT_TLI1 = 0x02, - CLICK_TIME_LIMIT_TLI2 = 0x04, - CLICK_TIME_LIMIT_TLI3 = 0x08, - CLICK_TIME_LIMIT_TLI4 = 0x10, - CLICK_TIME_LIMIT_TLI5 = 0x20, - CLICK_TIME_LIMIT_TLI6 = 0x40, - _CLICK_TIME_LIMIT_TLI_MASK = 127, - _CLICK_TIME_LIMIT_TLI_SHIFT = 0 - // 0x80 reserved - } CLICK_TIME_LIMIT_BITS_T; - - /** - * ACT_THS (sleep-to-wake/return-to-sleep activation threshold) bits - * - */ - typedef enum { - ACT_THS_ACTH0 = 0x01, // 1 LSb = 16mg (?) - ACT_THS_ACTH1 = 0x02, - ACT_THS_ACTH2 = 0x04, - ACT_THS_ACTH3 = 0x08, - ACT_THS_ACTH4 = 0x10, - ACT_THS_ACTH5 = 0x20, - ACT_THS_ACTH6 = 0x40, - _ACT_THS_ACTH_MASK = 127, - _ACT_THS_ACTH_SHIFT = 0 - // 0x80 reserved - } ACT_THS_BITS_T; - - // Driver specific enumerations - - // device enums for read/write regs - typedef enum { - DEV_GYRO, - DEV_XM - } DEVICE_T; - - // interrupt selection for installISR() and uninstallISR() - typedef enum { - INTERRUPT_G_INT, // gyroscope interrupt - INTERRUPT_G_DRDY, // gyroscope data ready interrupt - INTERRUPT_XM_GEN1, // XM interrupt generator 1 - INTERRUPT_XM_GEN2 // XM interrupt generator 2 - } INTERRUPT_PINS_T; - - - /** - * lsm9ds0 constructor - * - * @param bus i2c bus to use - * @param address the address for this device - */ - LSM9DS0(int bus=LSM9DS0_I2C_BUS, - uint8_t gAddress=LSM9DS0_DEFAULT_GYRO_ADDR, - uint8_t xmAddress=LSM9DS0_DEFAULT_XM_ADDR); - - /** - * LSM9DS0 Destructor - */ - ~LSM9DS0(); - - /** - * set up initial values and start operation - * - * @return true if successful - */ - bool init(); - - /** - * update the accelerometer, gyroscope, magnetometer and - * termperature values. - */ - void update(); - - /** - * update the gyroscope values only - */ - void updateGyroscope(); - - /** - * update the accelerometer values only - */ - void updateAccelerometer(); - - /** - * update the magnetometer values only - */ - void updateMagnetometer(); - - /** - * update the temperature value only - */ - void updateTemperature(); - - /** - * read a register - * - * @param dev the device to access (XM or G) - * @param reg the register to read - * @return the value of the register - */ - uint8_t readReg(DEVICE_T dev, uint8_t reg); - - /** - * read contiguous register into a buffer - * - * @param dev the device to access (XM or G) - * @param reg the register to start reading at - * @param buf the buffer to store the results - * @param len the number of registers to read - * @return the value of the register - */ - void readRegs(DEVICE_T dev, uint8_t reg, uint8_t *buffer, int len); - - /** - * write to a register - * - * @param dev the device to access (XM or G) - * @param reg the register to write to - * @param val the value to write - * @return true if successful, false otherwise - */ - bool writeReg(DEVICE_T dev, uint8_t reg, uint8_t val); - - /** - * enable or disable the gyro power down mode - * - * @param enable true to put device to sleep, false to wake up - * @return true if successful, false otherwise - */ - bool setGyroscopePowerDown(bool enable); - - /** - * enable or disable gyroscope axes. If all axis are disabled, - * and powerdown mode is not set, then the gyro goes into sleep - * mode. - * - * @param axes bit mask of valid axes, (CTRL_REG1_G_YEN, ...) - * @return true if successful, false otherwise - */ - bool setGyroscopeEnableAxes(uint8_t axes); - - /** - * set the gyroscope Output Data Rate (ODR) - * - * @param odr one of the G_ODR_T values - * @return true if successful, false otherwise - */ - bool setGyroscopeODR(G_ODR_T odr); - - /** - * set the scaling mode of the gyroscope - * - * @param scale one of the G_FS_T values - * @return true if successful, false otherwise - */ - bool setGyroscopeScale(G_FS_T scale); - - /** - * enable or disable accelerometer axes. - * - * @param axes bit mask of valid axes, (CTRL_REG1_XM_AXEN, ...) - * @return true if successful, false otherwise - */ - bool setAccelerometerEnableAxes(uint8_t axes); - - /** - * set the accelerometer Output Data Rate (ODR) - * - * @param odr one of the XM_AODR_T values - * @return true if successful, false otherwise - */ - bool setAccelerometerODR(XM_AODR_T odr); - - /** - * set the scaling mode of the accelerometer - * - * @param scale one of the XM_AFS_T values - * @return true if successful, false otherwise - */ - bool setAccelerometerScale(XM_AFS_T scale); - - /** - * set the magnetometer resolution - * - * @param res one of the XM_RES_T values - * @return true if successful, false otherwise - */ - bool setMagnetometerResolution(XM_RES_T res); - - /** - * set the magnetometer Output Data Rate (ODR) - * - * @param odr one of the XM_ODR_T values - * @return true if successful, false otherwise - */ - bool setMagnetometerODR(XM_ODR_T odr); - - /** - * set the magnetometer sensor mode - * - * @param mode one of the XM_MD_T values - * @return true if successful, false otherwise - */ - bool setMagnetometerMode(XM_MD_T mode); - - /** - * enable or disable magnetometer low power mode (LPM). When in - * low power mode, the magnetometer updates at 3.125Hz, regardless - * of it's ODR setting. - * - * @param enable true to enable LPM, false otherwise - * @return true if successful, false otherwise - */ - bool setMagnetometerLPM(bool enable); - - /** - * set the scaling mode of the magnetometer - * - * @param scale one of the XM_MFS_T values - * @return true if successful, false otherwise - */ - bool setMagnetometerScale(XM_MFS_T scale); - - /** - * get the accelerometer values in gravities - * - * @param x the returned x value, if arg is non-NULL - * @param y the returned y value, if arg is non-NULL - * @param z the returned z value, if arg is non-NULL - * @return true if successful, false otherwise - */ - void getAccelerometer(float *x, float *y, float *z); - - /** - * get the gyroscope values in degrees per second - * - * @param x the returned x value, if arg is non-NULL - * @param y the returned y value, if arg is non-NULL - * @param z the returned z value, if arg is non-NULL - * @return true if successful, false otherwise - */ - void getGyroscope(float *x, float *y, float *z); - - /** - * get the magnetometer values in gauss - * - * @param x the returned x value, if arg is non-NULL - * @param y the returned y value, if arg is non-NULL - * @param z the returned z value, if arg is non-NULL - * @return true if successful, false otherwise - */ - void getMagnetometer(float *x, float *y, float *z); - -#if defined(SWIGJAVA) || defined(JAVACALLBACK) - /** - * get the accelerometer values in gravities - * - * @return Array containing X, Y, Z acceleration values - */ - float *getAccelerometer(); - - /** - * get the gyroscope values in degrees per second - * - * @return Array containing X, Y, Z gyroscope values - */ - float *getGyroscope(); - - /** - * get the magnetometer values in gauss - * - * @return Array containing X, Y, Z magnetometer values - */ - float *getMagnetometer(); -#endif - - /** - * get the temperature value. Unfortunately the datasheet does - * not provide a mechanism to convert the temperature value into - * the correct value, so I made a 'guess'. If it's wrong, and you - * figure it out, send a patch! - * - * @return the temperature value in degrees Celcius - */ - float getTemperature(); - - /** - * enable onboard temperature measurement sensor - * - * @param enable true to enable temperature sensor, false to disable - * @return true if successful, false otherwise - */ - bool enableTemperatureSensor(bool enable); - - /** - * return the gyroscope status register - * - * @return bitmask of STATUS_REG_G_BITS_T bits - */ - uint8_t getGyroscopeStatus(); - - /** - * return the magnetometer status register - * - * @return bitmask of STATUS_REG_M_BITS_T bits - */ - uint8_t getMagnetometerStatus(); - - /** - * return the accelerometer status register - * - * @return bitmask of STATUS_REG_A_BITS_T bits - */ - uint8_t getAccelerometerStatus(); - - /** - * return the gyroscope interrupt config register - * - * @return bitmask of INT1_CFG_G_BITS_T bits - */ - uint8_t getGyroscopeInterruptConfig(); - - /** - * set the gyroscope interrupt config register - * - * @param enables bitmask of INT1_CFG_G_BITS_T values - * @return true if successful - */ - bool setGyroscopeInterruptConfig(uint8_t enables); - - /** - * return the gyroscope interrupt src register - * - * @return bitmask of INT1_SRC_G_BITS_T bits - */ - uint8_t getGyroscopeInterruptSrc(); - - /** - * return the magnetometer interrupt control register - * - * @return bitmask of INT_CTRL_REG_M_BITS_T bits - */ - uint8_t getMagnetometerInterruptControl(); - - /** - * set the magnetometer interrupt control register - * - * @param enables bitmask of INT_CTRL_REG_M_BITS_T values - * @return true if successful - */ - bool setMagnetometerInterruptControl(uint8_t enables); - - /** - * return the magnetometer interrupt src register - * - * @return bitmask of INT_SRC_REG_M_BITS_T bits - */ - uint8_t getMagnetometerInterruptSrc(); - - /** - * return the inertial interrupt generator 1 register - * - * @return bitmask of INT_GEN_X_REG_BITS_T bits - */ - uint8_t getInterruptGen1(); - - /** - * set the inertial interrupt generator 1 register - * - * @param enables bitmask of INT_GEN_X_REG_BITS_T values - * @return true if successful - */ - bool setInterruptGen1(uint8_t enables); - - /** - * return the inertial interrupt generator 1 src register - * - * @return bitmask of INT_GEN_X_SRC_BITS_T bits - */ - uint8_t getInterruptGen1Src(); - - /** - * return the inertial interrupt generator 2 register - * - * @return bitmask of INT_GEN_X_REG_BITS_T bits - */ - uint8_t getInterruptGen2(); - - /** - * set the inertial interrupt generator 2 register - * - * @param enables bitmask of INT_GEN_X_REG_BITS_T values - * @return true if successful - */ - bool setInterruptGen2(uint8_t enables); - - /** - * return the inertial interrupt generator 2 src register - * - * @return bitmask of INT_GEN_X_SRC_BITS_T bits - */ - uint8_t getInterruptGen2Src(); - -#if defined(SWIGJAVA) || defined(JAVACALLBACK) - void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, - jobject runnable); -#else - /** - * install an interrupt handler. - * - * @param intr one of the INTERRUPT_PINS_T values specifying which - * interrupt pin out of 4 you are installing - * @param gpio gpio pin to use as interrupt pin - * @param level the interrupt trigger level (one of mraa::Edge - * values). Make sure that you have configured the interrupt pin - * properly for whatever level you choose. - * @param isr the interrupt handler, accepting a void * argument - * @param arg the argument to pass the the interrupt handler - */ - void installISR(INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, - void (*isr)(void *), void *arg); -#endif - /** - * uninstall a previously installed interrupt handler - * - * @param intr one of the INTERRUPT_PINS_T values specifying which - * interrupt pin out of 4 you are uninstalling - */ - void uninstallISR(INTERRUPT_PINS_T intr); - - protected: - // uncompensated accelerometer and gyroscope values - float m_accelX; - float m_accelY; - float m_accelZ; - - float m_gyroX; - float m_gyroY; - float m_gyroZ; - - float m_magX; - float m_magY; - float m_magZ; - - // uncompensated temperature value - float m_temp; - - // accelerometer and gyro scaling factors, depending on their Full - // Scale settings. - float m_accelScale; - float m_gyroScale; - float m_magScale; - - private: - // OR'd with a register, this enables register autoincrement mode, - // which we need. - static const uint8_t m_autoIncrementMode = 0x80; - - mraa::I2c m_i2cG; - mraa::I2c m_i2cXM; - uint8_t m_gAddr; - uint8_t m_xmAddr; - - // return a reference to a gpio pin pointer depending on intr - mraa::Gpio*& getPin(INTERRUPT_PINS_T intr); - - // possible interrupt pins - mraa::Gpio *m_gpioG_INT; - mraa::Gpio *m_gpioG_DRDY; - mraa::Gpio *m_gpioXM_GEN1; - mraa::Gpio *m_gpioXM_GEN2; - }; -} - - |