mma7455: added new accelerometer module

Signed-off-by: Kiveisha Yevgeniy <yevgeniy.kiveisha@intel.com>

examples/CMakeLists.txt

@@ -13,6 +13,7 @@ add_executable (son-hcsr04 hcsr04.cxx)
 add_executable (oled-1308 oled-1308.cxx)
 add_executable (oled-1327 oled-1327.cxx)
 add_executable (proximity max44000.cxx)
+add_executable (accelerometer mma7455.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -24,6 +25,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/nrf24l01)
 include_directories (${PROJECT_SOURCE_DIR}/src/servo)
 include_directories (${PROJECT_SOURCE_DIR}/src/hcsr04)
 include_directories (${PROJECT_SOURCE_DIR}/src/max44000)
+include_directories (${PROJECT_SOURCE_DIR}/src/mma7455)
 
 target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT})
@@ -40,3 +42,4 @@ target_link_libraries (son-hcsr04 hcsr04 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (oled-1308 i2clcd ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (oled-1327 i2clcd ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (proximity max44000 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (accelerometer mma7455 ${CMAKE_THREAD_LIBS_INIT})

examples/mma7455.cxx

@@ -0,0 +1,64 @@
+/*
+ * 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 <unistd.h>
+#include <iostream>
+#include "mma7455.h"
+#include <signal.h>
+#include <pthread.h>
+
+int doWork = 0;
+upm::MMA7455 *sensor = NULL;
+
+void
+sig_handler(int signo)
+{
+    printf("got signal\n");
+    if (signo == SIGINT) {
+        printf("exiting application\n");
+        doWork = 1;
+    }
+}
+
+int
+main(int argc, char **argv)
+{
+    //! [Interesting]
+    sensor = new upm::MMA7455(0, ADDR);
+    
+    short x, y, z;
+    while (!doWork) {
+        sensor->readData(&x, &y, &z);
+        std::cout << "Accelerometer X(" << x << ") Y(" << y << ") Z(" << z << ")" << std::endl;
+        usleep (100000);
+    }
+
+    //! [Interesting]
+
+    std::cout << "exiting application" << std::endl;
+
+    delete sensor;
+
+    return 0;
+}

src/mma7455/CMakeLists.txt

@@ -0,0 +1,4 @@
+set (libname "mma7455")
+set (libdecription "upm MMA7455")
+add_library (mma7455 SHARED mma7455.cxx)
+upm_module_init()

src/mma7455/jsupm_mma7455.i

@@ -0,0 +1,7 @@
+%module jsupm_mma7455
+
+%{
+    #include "mma7455.h"
+%}
+
+%include "mma7455.h"

src/mma7455/mma7455.cxx

@@ -0,0 +1,176 @@
+/*
+ * 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 <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) {
+    unsigned char data   = 0;
+    int           nBytes = 0;
+    
+    m_name = "MMA7455";
+
+    m_controlAddr = devAddr;
+    m_bus = bus;
+
+    m_i2ControlCtx = maa_i2c_init(m_bus);
+
+    maa_result_t error = maa_i2c_address(m_i2ControlCtx, m_controlAddr);
+    if (error != MAA_SUCCESS) {
+        fprintf(stderr, "Messed up i2c bus\n");
+        return;
+    }
+    
+    // setting GLVL 0x1 (64LSB/g) and MODE 0x1 (Measurement Mode)
+    data = (BIT (MMA7455_GLVL0) | BIT (MMA7455_MODE0));
+    error = ic2WriteReg (MMA7455_MCTL, &data, 0x1);
+    if (error != MAA_SUCCESS) {
+        std::cout << "ERROR :: MMA7455 instance wan not created (Mode)" << std::endl;
+        return;
+    }
+    
+    if (MAA_SUCCESS != calibrate ()) {
+        std::cout << "ERROR :: MMA7455 instance wan not created (Calibrate)" << std::endl;
+        return;
+    }
+}
+
+MMA7455::~MMA7455() {
+    maa_i2c_stop(m_i2ControlCtx);
+}
+
+maa_result_t 
+MMA7455::calibrate () {
+    maa_result_t error = MAA_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 (MAA_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 = ic2WriteReg (MMA7455_XOFFL,  (unsigned char *) &xyz, 0x6);
+        if (error != MAA_SUCCESS) {
+            return error;
+        }
+    
+    } while ( ++i < 3 );
+    
+    return error;
+}
+
+maa_result_t 
+MMA7455::readData (short * ptrX, short * ptrY, short * ptrZ) {
+    accelData xyz;
+    unsigned char data = 0;
+    int nBytes = 0;
+    
+    /*do {
+        nBytes = ic2ReadReg (MMA7455_STATUS, &data, 0x1);
+    } while ( !(data & MMA7455_DRDY) && nBytes == MAA_SUCCESS);
+    
+    if (nBytes == MAA_SUCCESS) {
+        std::cout << "NO_GDB :: 1" << std::endl;
+        return MAA_SUCCESS;
+    }*/
+    
+    nBytes = ic2ReadReg (MMA7455_XOUTL, (unsigned char *) &xyz, 0x6);
+    if (nBytes == 0) {
+        std::cout << "NO_GDB :: 2" << std::endl;
+        return MAA_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 MAA_SUCCESS;
+}
+
+int 
+MMA7455::ic2ReadReg (unsigned char reg, unsigned char * buf, unsigned char size) {
+    if (MAA_SUCCESS != maa_i2c_address(m_i2ControlCtx, m_controlAddr)) {
+        return 0;
+    }
+    
+    if (MAA_SUCCESS != maa_i2c_write_byte(m_i2ControlCtx, reg)) {
+        return 0;
+    }
+
+    if (MAA_SUCCESS != maa_i2c_address(m_i2ControlCtx, m_controlAddr)) {
+        return 0;
+    }
+    
+    return (int) maa_i2c_read(m_i2ControlCtx, buf, size);
+}
+
+maa_result_t 
+MMA7455::ic2WriteReg (unsigned char reg, unsigned char * buf, unsigned char size) {
+    maa_result_t error = MAA_SUCCESS;
+
+    uint8_t data[size + 1];
+    data[0] = reg;
+    memcpy(&data[1], buf, size);
+
+    error = maa_i2c_address (m_i2ControlCtx, m_controlAddr);
+    if (error != MAA_SUCCESS) {
+        return error;
+    }
+    error = maa_i2c_write (m_i2ControlCtx, data, size + 1);
+    if (error != MAA_SUCCESS) {
+        return error;
+    }
+
+    return error;
+}
+

src/mma7455/mma7455.h

@@ -0,0 +1,223 @@
+/*
+ * 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.
+ */
+#pragma once
+
+#include <string>
+#include <maa/i2c.h>
+
+#define ADDR               0x1D // device address
+
+// Register names according to the datasheet.
+// Register 0x1C is sometimes called 'PW', and sometimes 'PD'.
+// The two reserved registers can not be used.
+#define MMA7455_XOUTL 0x00      // Read only, Output Value X LSB
+#define MMA7455_XOUTH 0x01      // Read only, Output Value X MSB
+#define MMA7455_YOUTL 0x02      // Read only, Output Value Y LSB
+#define MMA7455_YOUTH 0x03      // Read only, Output Value Y MSB
+#define MMA7455_ZOUTL 0x04      // Read only, Output Value Z LSB
+#define MMA7455_ZOUTH 0x05      // Read only, Output Value Z MSB
+#define MMA7455_XOUT8 0x06      // Read only, Output Value X 8 bits
+#define MMA7455_YOUT8 0x07      // Read only, Output Value Y 8 bits
+#define MMA7455_ZOUT8 0x08      // Read only, Output Value Z 8 bits
+#define MMA7455_STATUS 0x09     // Read only, Status Register
+#define MMA7455_DETSRC 0x0A     // Read only, Detection Source Register
+#define MMA7455_TOUT 0x0B       // Temperature Output Value (Optional)
+#define MMA7455_RESERVED1 0x0C  // Reserved
+#define MMA7455_I2CAD 0x0D      // Read/Write, I2C Device Address
+#define MMA7455_USRINF 0x0E     // Read only, User Information (Optional)
+#define MMA7455_WHOAMI 0x0F     // Read only, "Who am I" value (Optional)
+#define MMA7455_XOFFL 0x10      // Read/Write, Offset Drift X LSB
+#define MMA7455_XOFFH 0x11      // Read/Write, Offset Drift X MSB
+#define MMA7455_YOFFL 0x12      // Read/Write, Offset Drift Y LSB
+#define MMA7455_YOFFH 0x13      // Read/Write, Offset Drift Y MSB
+#define MMA7455_ZOFFL 0x14      // Read/Write, Offset Drift Z LSB
+#define MMA7455_ZOFFH 0x15      // Read/Write, Offset Drift Z MSB
+#define MMA7455_MCTL 0x16       // Read/Write, Mode Control Register 
+#define MMA7455_INTRST 0x17     // Read/Write, Interrupt Latch Reset
+#define MMA7455_CTL1 0x18       // Read/Write, Control 1 Register
+#define MMA7455_CTL2 0x19       // Read/Write, Control 2 Register
+#define MMA7455_LDTH 0x1A       // Read/Write, Level Detection Threshold Limit Value
+#define MMA7455_PDTH 0x1B       // Read/Write, Pulse Detection Threshold Limit Value
+#define MMA7455_PD 0x1C         // Read/Write, Pulse Duration Value
+#define MMA7455_LT 0x1D         // Read/Write, Latency Time Value (between pulses)
+#define MMA7455_TW 0x1E         // Read/Write, Time Window for Second Pulse Value
+#define MMA7455_RESERVED2 0x1F  // Reserved
+
+// Defines for the bits, to be able to change 
+// between bit number and binary definition.
+// By using the bit number, programming the MMA7455 
+// is like programming an AVR microcontroller.
+// But instead of using "(1<<X)", or "_BV(X)", 
+// the Arduino "bit(X)" is used.
+#define MMA7455_D0 0
+#define MMA7455_D1 1
+#define MMA7455_D2 2
+#define MMA7455_D3 3
+#define MMA7455_D4 4
+#define MMA7455_D5 5
+#define MMA7455_D6 6
+#define MMA7455_D7 7
+
+// Status Register
+#define MMA7455_DRDY MMA7455_D0
+#define MMA7455_DOVR MMA7455_D1
+#define MMA7455_PERR MMA7455_D2
+
+// Mode Control Register
+#define MMA7455_MODE0 MMA7455_D0
+#define MMA7455_MODE1 MMA7455_D1
+#define MMA7455_GLVL0 MMA7455_D2
+#define MMA7455_GLVL1 MMA7455_D3
+#define MMA7455_STON MMA7455_D4
+#define MMA7455_SPI3W MMA7455_D5
+#define MMA7455_DRPD MMA7455_D6
+
+// Control 1 Register
+#define MMA7455_INTPIN MMA7455_D0
+#define MMA7455_INTREG0 MMA7455_D1
+#define MMA7455_INTREG1 MMA7455_D2
+#define MMA7455_XDA MMA7455_D3
+#define MMA7455_YDA MMA7455_D4
+#define MMA7455_ZDA MMA7455_D5
+#define MMA7455_THOPT MMA7455_D6
+#define MMA7455_DFBW MMA7455_D7
+
+// Control 2 Register
+#define MMA7455_LDPL MMA7455_D0
+#define MMA7455_PDPL MMA7455_D1
+#define MMA7455_DRVO MMA7455_D2
+
+// Interrupt Latch Reset Register
+#define MMA7455_CLR_INT1 MMA7455_D0
+#define MMA7455_CLR_INT2 MMA7455_D1
+
+// Detection Source Register
+#define MMA7455_INT1 MMA7455_D0
+#define MMA7455_INT2 MMA7455_D1
+#define MMA7455_PDZ MMA7455_D2
+#define MMA7455_PDY MMA7455_D3
+#define MMA7455_PDX MMA7455_D4
+#define MMA7455_LDZ MMA7455_D5
+#define MMA7455_LDY MMA7455_D6
+#define MMA7455_LDX MMA7455_D7
+
+// I2C Device Address Register
+#define MMA7455_I2CDIS MMA7455_D7
+
+#define HIGH               1
+#define LOW                0
+
+namespace upm {
+    
+union accelData {
+    struct {
+        unsigned char x_lsb;
+        unsigned char x_msb;
+        unsigned char y_lsb;
+        unsigned char y_msb;
+        unsigned char z_lsb;
+        unsigned char z_msb;
+    } reg;
+    
+    struct {
+        short x;
+        short y;
+        short z;
+    } value;
+};
+
+#define BIT(n) (1<<n)
+
+/**
+ * @brief C++ API for MMA7455 chip (accelerometer)
+ *
+ * This file defines the MMA7455 C++ interface for libmma7455
+ *
+ * @snippet mma7455.cxx Interesting
+ *
+ */
+class MMA7455 {
+    public:
+        /**
+         * Instanciates a MMA7455 object
+         *
+         * @param bus number of used bus
+         * @param devAddr addres of used i2c device
+         */
+        MMA7455 (int bus, int devAddr);
+
+        /**
+         * MMA7455 object destructor, basicaly it close i2c connection.
+         */
+        ~MMA7455 ();
+
+        /**
+         * Return name of the component
+         */
+        std::string name()
+        {
+            return m_name;
+        }
+        
+        /**
+         * Calibrate the sensor
+         */
+        maa_result_t calibrate ();
+        
+        /**
+         * Read X, Y and Z acceleration data
+         *
+         * @param ptrX X axis
+         * @param ptrY Y axis
+         * @param ptrZ Z axis
+         */
+        maa_result_t readData (short * ptrX, short * ptrY, short * ptrZ);
+        
+        /**
+         * 
+         *
+         * @param reg register address
+         * @param buf register data buffer
+         * @param size buffer size
+         */
+        int ic2ReadReg (unsigned char reg, unsigned char * buf, unsigned char size);
+        
+        /**
+         * 
+         *
+         * @param reg register address
+         * @param buf register data buffer 
+         * @param size buffer size
+         */
+        maa_result_t ic2WriteReg (unsigned char reg, unsigned char * buf, unsigned char size);
+
+    private:
+        std::string m_name;
+
+        int              m_controlAddr;
+        int              m_bus;
+        maa_i2c_context  m_i2ControlCtx;
+};
+
+}

src/mma7455/pyupm_mma7455.i

@@ -0,0 +1,8 @@
+%module pyupm_mma7455
+
+%feature("autodoc", "3");
+
+%include "mma7455.h"
+%{
+    #include "mma7455.h"
+%}