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/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Copyright (c) 2014 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.
*/
#include <iostream>
#include <string>
#include <stdexcept>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <pthread.h>
#include <math.h>
#include "mma7455.h"
using namespace upm;
MMA7455::MMA7455 (int bus, int devAddr) : m_i2ControlCtx(bus) {
unsigned char data = 0;
int nBytes = 0;
m_name = "MMA7455";
m_controlAddr = devAddr;
m_bus = bus;
mraa::Result error = m_i2ControlCtx.address(m_controlAddr);
if (error != mraa::SUCCESS) {
throw std::runtime_error(std::string(__FUNCTION__) +
": mraa_i2c_address() failed");
return;
}
// setting GLVL 0x1 (64LSB/g) and MODE 0x1 (Measurement Mode)
data = (BIT (MMA7455_GLVL0) | BIT (MMA7455_MODE0));
error = i2cWriteReg (MMA7455_MCTL, &data, 0x1);
if (error != mraa::SUCCESS) {
throw std::runtime_error(std::string(__FUNCTION__) +
": writing mode register failed");
return;
}
if (mraa::SUCCESS != calibrate ()) {
throw std::runtime_error(std::string(__FUNCTION__) +
": calibrate() failed");
return;
}
}
mraa::Result
MMA7455::calibrate () {
mraa::Result error = mraa::SUCCESS;
int i = 0;
accelData xyz;
xyz.value.x = xyz.value.y = xyz.value.z = 0;
do {
error = readData (&xyz.value.x, &xyz.value.y, &xyz.value.z);
if (mraa::SUCCESS != error) {
return error;
}
xyz.value.x += 2 * -xyz.value.x;
xyz.value.y += 2 * -xyz.value.y;
xyz.value.z += 2 * -(xyz.value.z - 64);
error = i2cWriteReg (MMA7455_XOFFL, (unsigned char *) &xyz, 0x6);
if (error != mraa::SUCCESS) {
return error;
}
} while ( ++i < 3 );
return error;
}
mraa::Result
MMA7455::readData (short * ptrX, short * ptrY, short * ptrZ) {
accelData xyz;
unsigned char data = 0;
int nBytes = 0;
/*do {
nBytes = i2cReadReg (MMA7455_STATUS, &data, 0x1);
} while ( !(data & MMA7455_DRDY) && nBytes == mraa::SUCCESS);
if (nBytes == mraa::SUCCESS) {
std::cout << "NO_GDB :: 1" << std::endl;
return mraa::SUCCESS;
}*/
nBytes = i2cReadReg (MMA7455_XOUTL, (unsigned char *) &xyz, 0x6);
if (nBytes == 0) {
std::cout << "NO_GDB :: 2" << std::endl;
return mraa::ERROR_UNSPECIFIED;
}
if (xyz.reg.x_msb & 0x02) {
xyz.reg.x_msb |= 0xFC;
}
if (xyz.reg.y_msb & 0x02) {
xyz.reg.y_msb |= 0xFC;
}
if (xyz.reg.z_msb & 0x02) {
xyz.reg.z_msb |= 0xFC;
}
// The result is the g-force in units of 64 per 'g'.
*ptrX = xyz.value.x;
*ptrY = xyz.value.y;
*ptrZ = xyz.value.z;
return mraa::SUCCESS;
}
#ifdef SWIGJAVA
short *MMA7455::readData() {
short *v = new short[3];
readData(&v[0], &v[1], &v[2]);
return v;
}
#endif
int
MMA7455::i2cReadReg (unsigned char reg, uint8_t *buffer, int len) {
if (mraa::SUCCESS != m_i2ControlCtx.address(m_controlAddr)) {
throw std::runtime_error(std::string(__FUNCTION__) +
": mraa_i2c_address() failed");
return 0;
}
if (mraa::SUCCESS != m_i2ControlCtx.writeByte(reg)) {
throw std::runtime_error(std::string(__FUNCTION__) +
": mraa_i2c_write_byte() failed");
return 0;
}
return (int) m_i2ControlCtx.read(buffer, len);
}
mraa::Result
MMA7455::i2cWriteReg (unsigned char reg, uint8_t *buffer, int len) {
mraa::Result error = mraa::SUCCESS;
uint8_t data[len + 1];
data[0] = reg;
memcpy(&data[1], buffer, len);
error = m_i2ControlCtx.address (m_controlAddr);
if (error != mraa::SUCCESS) {
throw std::runtime_error(std::string(__FUNCTION__) +
": mraa_i2c_address() failed");
return error;
}
error = m_i2ControlCtx.write (data, len + 1);
if (error != mraa::SUCCESS) {
throw std::runtime_error(std::string(__FUNCTION__) +
": mraa_i2c_write() failed");
return error;
}
return error;
}
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