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/*
* Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
* Copyright (c) 2016 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/iio.h>
namespace upm
{
/**
* @brief KXCJK1013 Tri-axis Digital Accelerometer
* @defgroup kxcjk1013 libupm-kxcjk1013
* @ingroup Kionix iio i2c tri-axis digital accelerometer
*/
/**
* @library kxcjk1013
* @sensor kxcjk1013
* @comname KXCJK1013 Tri-axis Digital Accelerometer
* @type accelerometer
* @man Kionix
* @con iio i2c
*
* @brief KXCJK1013 Tri-axis Digital Accelerometer API
*
* The KXCJK is a tri-axis +/-2g, +/-4g or +/-8g silicon micromachined
* accelerometer.
*
* @snippet kxcjk1013.cxx Interesting
*/
class KXCJK1013
{
public:
/**
* KXCJK1013 Tri-axis Digital Accelerometer
*
* @param iio device number
*/
KXCJK1013(int device);
/**
* KXCJK1013 destructor
*/
~KXCJK1013();
/**
* Installs an interrupt service routine (ISR) to be called when
* an interrupt occurs
*
* @param interrupt channel
* @param fptr Pointer to a function to be called on interrupt
* @param arg Pointer to an object to be supplied as an
* argument to the ISR.
*/
void installISR(void (*isr)(char*), void* arg);
/**
* Extract the channel value based on channel type
* @param input Channel data
* @param chan MRAA iio-layer channel info
*/
int64_t getChannelValue(unsigned char* input, mraa_iio_channel* chan);
/**
* Enable trigger buffer
* @param trigger buffer length in integer
*/
bool enableBuffer(int length);
/**
* Disable trigger buffer
*/
bool disableBuffer();
/**
* Set scale
* @param scale in float
* Available scales are 0.009582(2g), 0.019163(4g), and 0.038326(8g)
* Default scale is 0.019163
*/
bool setScale(const float scale);
/**
* Set sampling frequency
* @param sampling frequency in float
* Available sampling frequency are 0.781000, 1.563000, 3.125000, 6.250000, 12.500000, 25, 50,
* 100, 200, 400, 800, and 1600
* Default sampling frequency is 25
*/
bool setSamplingFrequency(const float sampling_frequency);
/**
* Enable 3 axis scan element
*/
bool enable3AxisChannel();
/**
* Process enabled channel buffer and return x, y, z axis
* @param data Enabled channel data, 6 bytes, each axis 2 bytes
* @param x X-Axis
* @param y Y-Axis
* @param z Z-Axis
*/
void extract3Axis(char* data, float* x, float* y, float* z);
private:
mraa_iio_context m_iio;
int m_iio_device_num;
bool m_mount_matrix_exist; // is mount matrix exist
float m_mount_matrix[9]; // mount matrix
float m_scale; // accelerometer data scale
};
}
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