Rohm / KX022

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?

UserRevisionLine numberNew contents of line
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 }