KX022.cpp

00001 /* Copyright (c) 2015 ARM Ltd., MIT License
00002 *
00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
00004 * and associated documentation files (the "Software"), to deal in the Software without
00005 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
00006 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
00007 * Software is furnished to do so, subject to the following conditions:
00008 *
00009 * The above copyright notice and this permission notice shall be included in all copies or
00010 * substantial portions of the Software.
00011 *
00012 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
00013 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00014 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
00015 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00016 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017 *
00018 *
00019 *  KX022 Accelerometer library
00020 *
00021 *  @author  Toyomasa Watarai
00022 *  @version 1.0
00023 *  @date    30-December-2015
00024 *
00025 *  Library for "KX022 Accelerometer library" from Kionix a Rohm group
00026 *    http://www.kionix.com/product/KX022-1020
00027 *
00028 */
00029 
00030 #include "mbed.h"
00031 #include "KX022.h"
00032 
00033 KX022::KX022(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr)
00034 {
00035     initialize();
00036 }
00037 
00038 KX022::KX022(I2C &i2c_obj, int addr) : m_i2c(i2c_obj), m_addr(addr)
00039 {
00040     initialize();
00041 }
00042 
00043 KX022::~KX022()
00044 {
00045 }
00046 
00047 void KX022::initialize()
00048 {
00049     unsigned char buf;
00050     unsigned char reg[2];
00051 
00052     DEBUG_PRINT("KX022 init started\n\r");
00053     readRegs(KX022_WHO_AM_I, &buf, sizeof(buf));
00054     if (buf != KX022_WAI_VAL) {
00055         DEBUG_PRINT("KX022 initialization error. (WAI %d, not %d)\n\r", buf, KX022_WAI_VAL);
00056         DEBUG_PRINT("Trying to config anyway, in case there is some compatible sensor connected.\n\r");
00057     }
00058 
00059     reg[0] = KX022_CNTL1;
00060     reg[1] = 0x41;
00061     writeRegs(reg, 2);
00062 
00063     reg[0] = KX022_ODCNTL;
00064     reg[1] = 0x02;
00065     writeRegs(reg, 2);
00066 
00067     reg[0] = KX022_CNTL3;
00068     reg[1] = 0xD8;
00069     writeRegs(reg, 2);
00070 
00071     reg[0] = KX022_TILT_TIMER;
00072     reg[1] = 0x01;
00073     writeRegs(reg, 2);
00074 
00075     reg[0] = KX022_CNTL1;
00076     reg[1] = 0xC1;
00077     writeRegs(reg, 2);
00078 }
00079     
00080 float KX022::getAccX()
00081 {
00082     return (float(getAccAxis(KX022_XOUT_L))/16384);
00083 }
00084 
00085 float KX022::getAccY()
00086 {
00087     return (float(getAccAxis(KX022_YOUT_L))/16384);
00088 }
00089 
00090 float KX022::getAccZ()
00091 {
00092     return (float(getAccAxis(KX022_ZOUT_L))/16384);
00093 }
00094 
00095 void KX022::getAccAllAxis(float * res)
00096 {
00097     res[0] = getAccX();
00098     res[1] = getAccY();
00099     res[2] = getAccZ();
00100 }
00101 
00102 int16_t KX022::getAccAxis(uint8_t addr)
00103 {
00104     int16_t acc;
00105     uint8_t res[2];
00106 
00107     readRegs(addr, res, 2);
00108     acc = ((res[1] << 8) | res[0]);
00109     return acc;
00110 }
00111 
00112 void KX022::readRegs(int addr, uint8_t * data, int len)
00113 {
00114     int read_nok;
00115     char t[1] = {addr};
00116     
00117     m_i2c.write(m_addr, t, 1, true);
00118     read_nok = m_i2c.read(m_addr, (char *)data, len);
00119     if (read_nok){
00120         DEBUG_PRINT("Read fail\n\r");        
00121         }
00122 }
00123 
00124 void KX022::writeRegs(uint8_t * data, int len)
00125 {
00126     m_i2c.write(m_addr, (char *)data, len);
00127 }