KX022 Accelerometer library
Dependents: LazuriteGraph_Hello KX022_Hello GR-PEACH_IoT_Platform_HTTP_sample
KX022.cpp@3:e2d1659fe67e, 2016-09-14 (annotated)
- Committer:
- MikkoZ
- Date:
- Wed Sep 14 09:16:41 2016 +0000
- Revision:
- 3:e2d1659fe67e
- Parent:
- 0:e642dd732c4b
Modified init routine to work with other WAI values too. Init tries to setup sensor anyway in hope to find regmap compatible sensor.; Turned on _DEBUG by default.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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MACRUM | 0:e642dd732c4b | 1 | /* Copyright (c) 2015 ARM Ltd., MIT License |
MACRUM | 0:e642dd732c4b | 2 | * |
MACRUM | 0:e642dd732c4b | 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
MACRUM | 0:e642dd732c4b | 4 | * and associated documentation files (the "Software"), to deal in the Software without |
MACRUM | 0:e642dd732c4b | 5 | * restriction, including without limitation the rights to use, copy, modify, merge, publish, |
MACRUM | 0:e642dd732c4b | 6 | * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the |
MACRUM | 0:e642dd732c4b | 7 | * Software is furnished to do so, subject to the following conditions: |
MACRUM | 0:e642dd732c4b | 8 | * |
MACRUM | 0:e642dd732c4b | 9 | * The above copyright notice and this permission notice shall be included in all copies or |
MACRUM | 0:e642dd732c4b | 10 | * substantial portions of the Software. |
MACRUM | 0:e642dd732c4b | 11 | * |
MACRUM | 0:e642dd732c4b | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
MACRUM | 0:e642dd732c4b | 13 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
MACRUM | 0:e642dd732c4b | 14 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
MACRUM | 0:e642dd732c4b | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
MACRUM | 0:e642dd732c4b | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
MACRUM | 0:e642dd732c4b | 17 | * |
MACRUM | 0:e642dd732c4b | 18 | * |
MACRUM | 0:e642dd732c4b | 19 | * KX022 Accelerometer library |
MACRUM | 0:e642dd732c4b | 20 | * |
MACRUM | 0:e642dd732c4b | 21 | * @author Toyomasa Watarai |
MACRUM | 0:e642dd732c4b | 22 | * @version 1.0 |
MACRUM | 0:e642dd732c4b | 23 | * @date 30-December-2015 |
MACRUM | 0:e642dd732c4b | 24 | * |
MACRUM | 0:e642dd732c4b | 25 | * Library for "KX022 Accelerometer library" from Kionix a Rohm group |
MACRUM | 0:e642dd732c4b | 26 | * http://www.kionix.com/product/KX022-1020 |
MACRUM | 0:e642dd732c4b | 27 | * |
MACRUM | 0:e642dd732c4b | 28 | */ |
MACRUM | 0:e642dd732c4b | 29 | |
MACRUM | 0:e642dd732c4b | 30 | #include "mbed.h" |
MACRUM | 0:e642dd732c4b | 31 | #include "KX022.h" |
MACRUM | 0:e642dd732c4b | 32 | |
MACRUM | 0:e642dd732c4b | 33 | KX022::KX022(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) |
MACRUM | 0:e642dd732c4b | 34 | { |
MACRUM | 0:e642dd732c4b | 35 | initialize(); |
MACRUM | 0:e642dd732c4b | 36 | } |
MACRUM | 0:e642dd732c4b | 37 | |
MACRUM | 0:e642dd732c4b | 38 | KX022::KX022(I2C &i2c_obj, int addr) : m_i2c(i2c_obj), m_addr(addr) |
MACRUM | 0:e642dd732c4b | 39 | { |
MACRUM | 0:e642dd732c4b | 40 | initialize(); |
MACRUM | 0:e642dd732c4b | 41 | } |
MACRUM | 0:e642dd732c4b | 42 | |
MACRUM | 0:e642dd732c4b | 43 | KX022::~KX022() |
MACRUM | 0:e642dd732c4b | 44 | { |
MACRUM | 0:e642dd732c4b | 45 | } |
MACRUM | 0:e642dd732c4b | 46 | |
MACRUM | 0:e642dd732c4b | 47 | void KX022::initialize() |
MACRUM | 0:e642dd732c4b | 48 | { |
MACRUM | 0:e642dd732c4b | 49 | unsigned char buf; |
MACRUM | 0:e642dd732c4b | 50 | unsigned char reg[2]; |
MACRUM | 0:e642dd732c4b | 51 | |
MikkoZ | 3:e2d1659fe67e | 52 | DEBUG_PRINT("KX022 init started\n\r"); |
MACRUM | 0:e642dd732c4b | 53 | readRegs(KX022_WHO_AM_I, &buf, sizeof(buf)); |
MACRUM | 0:e642dd732c4b | 54 | if (buf != KX022_WAI_VAL) { |
MikkoZ | 3:e2d1659fe67e | 55 | DEBUG_PRINT("KX022 initialization error. (WAI %d, not %d)\n\r", buf, KX022_WAI_VAL); |
MikkoZ | 3:e2d1659fe67e | 56 | DEBUG_PRINT("Trying to config anyway, in case there is some compatible sensor connected.\n\r"); |
MACRUM | 0:e642dd732c4b | 57 | } |
MACRUM | 0:e642dd732c4b | 58 | |
MACRUM | 0:e642dd732c4b | 59 | reg[0] = KX022_CNTL1; |
MACRUM | 0:e642dd732c4b | 60 | reg[1] = 0x41; |
MACRUM | 0:e642dd732c4b | 61 | writeRegs(reg, 2); |
MACRUM | 0:e642dd732c4b | 62 | |
MACRUM | 0:e642dd732c4b | 63 | reg[0] = KX022_ODCNTL; |
MACRUM | 0:e642dd732c4b | 64 | reg[1] = 0x02; |
MACRUM | 0:e642dd732c4b | 65 | writeRegs(reg, 2); |
MACRUM | 0:e642dd732c4b | 66 | |
MACRUM | 0:e642dd732c4b | 67 | reg[0] = KX022_CNTL3; |
MACRUM | 0:e642dd732c4b | 68 | reg[1] = 0xD8; |
MACRUM | 0:e642dd732c4b | 69 | writeRegs(reg, 2); |
MACRUM | 0:e642dd732c4b | 70 | |
MACRUM | 0:e642dd732c4b | 71 | reg[0] = KX022_TILT_TIMER; |
MACRUM | 0:e642dd732c4b | 72 | reg[1] = 0x01; |
MACRUM | 0:e642dd732c4b | 73 | writeRegs(reg, 2); |
MACRUM | 0:e642dd732c4b | 74 | |
MACRUM | 0:e642dd732c4b | 75 | reg[0] = KX022_CNTL1; |
MACRUM | 0:e642dd732c4b | 76 | reg[1] = 0xC1; |
MACRUM | 0:e642dd732c4b | 77 | writeRegs(reg, 2); |
MACRUM | 0:e642dd732c4b | 78 | } |
MACRUM | 0:e642dd732c4b | 79 | |
MACRUM | 0:e642dd732c4b | 80 | float KX022::getAccX() |
MACRUM | 0:e642dd732c4b | 81 | { |
MACRUM | 0:e642dd732c4b | 82 | return (float(getAccAxis(KX022_XOUT_L))/16384); |
MACRUM | 0:e642dd732c4b | 83 | } |
MACRUM | 0:e642dd732c4b | 84 | |
MACRUM | 0:e642dd732c4b | 85 | float KX022::getAccY() |
MACRUM | 0:e642dd732c4b | 86 | { |
MACRUM | 0:e642dd732c4b | 87 | return (float(getAccAxis(KX022_YOUT_L))/16384); |
MACRUM | 0:e642dd732c4b | 88 | } |
MACRUM | 0:e642dd732c4b | 89 | |
MACRUM | 0:e642dd732c4b | 90 | float KX022::getAccZ() |
MACRUM | 0:e642dd732c4b | 91 | { |
MACRUM | 0:e642dd732c4b | 92 | return (float(getAccAxis(KX022_ZOUT_L))/16384); |
MACRUM | 0:e642dd732c4b | 93 | } |
MACRUM | 0:e642dd732c4b | 94 | |
MACRUM | 0:e642dd732c4b | 95 | void KX022::getAccAllAxis(float * res) |
MACRUM | 0:e642dd732c4b | 96 | { |
MACRUM | 0:e642dd732c4b | 97 | res[0] = getAccX(); |
MACRUM | 0:e642dd732c4b | 98 | res[1] = getAccY(); |
MACRUM | 0:e642dd732c4b | 99 | res[2] = getAccZ(); |
MACRUM | 0:e642dd732c4b | 100 | } |
MACRUM | 0:e642dd732c4b | 101 | |
MACRUM | 0:e642dd732c4b | 102 | int16_t KX022::getAccAxis(uint8_t addr) |
MACRUM | 0:e642dd732c4b | 103 | { |
MACRUM | 0:e642dd732c4b | 104 | int16_t acc; |
MACRUM | 0:e642dd732c4b | 105 | uint8_t res[2]; |
MACRUM | 0:e642dd732c4b | 106 | |
MACRUM | 0:e642dd732c4b | 107 | readRegs(addr, res, 2); |
MACRUM | 0:e642dd732c4b | 108 | acc = ((res[1] << 8) | res[0]); |
MACRUM | 0:e642dd732c4b | 109 | return acc; |
MACRUM | 0:e642dd732c4b | 110 | } |
MACRUM | 0:e642dd732c4b | 111 | |
MACRUM | 0:e642dd732c4b | 112 | void KX022::readRegs(int addr, uint8_t * data, int len) |
MACRUM | 0:e642dd732c4b | 113 | { |
MikkoZ | 3:e2d1659fe67e | 114 | int read_nok; |
MACRUM | 0:e642dd732c4b | 115 | char t[1] = {addr}; |
MikkoZ | 3:e2d1659fe67e | 116 | |
MACRUM | 0:e642dd732c4b | 117 | m_i2c.write(m_addr, t, 1, true); |
MikkoZ | 3:e2d1659fe67e | 118 | read_nok = m_i2c.read(m_addr, (char *)data, len); |
MikkoZ | 3:e2d1659fe67e | 119 | if (read_nok){ |
MikkoZ | 3:e2d1659fe67e | 120 | DEBUG_PRINT("Read fail\n\r"); |
MikkoZ | 3:e2d1659fe67e | 121 | } |
MACRUM | 0:e642dd732c4b | 122 | } |
MACRUM | 0:e642dd732c4b | 123 | |
MACRUM | 0:e642dd732c4b | 124 | void KX022::writeRegs(uint8_t * data, int len) |
MACRUM | 0:e642dd732c4b | 125 | { |
MACRUM | 0:e642dd732c4b | 126 | m_i2c.write(m_addr, (char *)data, len); |
MACRUM | 0:e642dd732c4b | 127 | } |