Diff: KXR94/KXR94.cpp

Revision:

0:3d456b8ce449

diff -r 000000000000 -r 3d456b8ce449 KXR94/KXR94.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/KXR94/KXR94.cpp	Mon Jun 15 15:34:27 2015 +0000
@@ -0,0 +1,88 @@
+/**
+ * @author Juan Manuel Amador Olivares (virtualmech)
+ */
+
+#include "KXR94.h"
+
+KXR94::KXR94(PinName mosi, PinName miso, PinName sck, PinName cs) : spi_(mosi, miso, sck), nCS_(cs) 
+{
+    // Se configura el puerto SPI
+    spi_.frequency(4000000);        // El máximo según el datasheet es 5MHz
+    spi_.format(8,0);
+        
+    // Se prepara el acelerómetro para comenzar las lecturas
+    AcelerometroWakeUp();   
+}
+
+void KXR94::ReadAccels_KXR94(int* Acc) {
+    char x_lsb, x_msb;
+    char y_lsb, y_msb;
+    char z_lsb, z_msb;
+    signed short ax, ay, az;   
+
+    //------------X----------------    
+    nCS_ = 0;
+    spi_.write(CONVERTX);
+    wait_us(40);
+    x_msb = spi_.write(0x00);   // Dummy byte
+    x_lsb = spi_.write(0x00);   // Dummy byte
+    nCS_ = 1;
+    wait_us(1);   
+    ax = (x_msb << 8) |  x_lsb ;   // combineer msb en lsb
+    ax = ax >> 4;                  // Get rid of four non-value bits in LSB
+    ax &=~0xF000;
+    //------------Y----------------
+    nCS_ = 0;
+    spi_.write(CONVERTY);
+    wait_us(40);
+    y_msb = spi_.write(0x00);   // Dummy byte
+    y_lsb = spi_.write(0x00);   // Dummy byte
+    nCS_ = 1;
+    wait_us(1);  
+    ay = (y_msb << 8) | y_lsb;     // combineer msb en lsb
+    ay = ay >> 4;                  // Get rid of four non-value bits in LSB
+    ay &=~0xF000;
+    //------------Z----------------
+    nCS_ = 0;
+    spi_.write(CONVERTZ);
+    wait_us(40);
+    z_msb = spi_.write(0x00);   // Dummy byte
+    z_lsb = spi_.write(0x00);   // Dummy byte
+    nCS_ = 1;
+    wait_us(1);  
+    az = (z_msb << 8) |  z_lsb;    //  combineer msb en lsb
+    az = az >> 4;                  // Get rid of four non-value bits in LSB    
+    az &=~0xF000;
+
+    Acc[0] = ax;
+    Acc[1] = ay;
+    Acc[2] = az;
+}
+
+//-----------------READ OUT the X-Y-Z values---------------
+char KXR94::read_reg() {
+    char byte;
+    nCS_ = 0;
+    spi_.write(READREG);
+    byte = spi_.write(0x00);   // Dummy byte
+    nCS_ = 1;
+    wait_us(1);
+    return byte;
+}
+
+void KXR94::AcelerometroSleep(void)
+{
+    nCS_ = 0;
+    spi_.write(WRITEREG);
+    spi_.write(0x00);   // Enable = 0
+    nCS_ = 1;
+    wait_us(1);
+}  
+void KXR94::AcelerometroWakeUp(void)
+{
+    nCS_ = 0;
+    spi_.write(WRITEREG);
+    spi_.write(0x04);   // Enable = 1
+    nCS_ = 1;
+    wait_us(1);
+}
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