Device driver for the Freescale MMA845x family of accelerometers.
Fork of MMA845x by
Diff: MMA845x.cpp
- Revision:
- 2:555f8ba0c959
- Parent:
- 1:37ddb4739f02
--- a/MMA845x.cpp Thu Jan 05 06:41:39 2017 +0000 +++ b/MMA845x.cpp Wed Jan 11 04:12:05 2017 +0000 @@ -1,13 +1,13 @@ /** * @file MMA845x.cpp - * @brief Device driver - MMA845X 3-axis accelerometer IC - * @author sam grove + * @brief Device driver - MMA845X 3-axis accelerometer IC W/RTOS support + * @author Tim Barr * @version 1.0 * @see http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8451Q.pdf * @see http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8452Q.pdf * @see http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8453Q.pdf * - * Copyright (c) 2013 + * Copyright (c) 2015 * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -20,153 +20,304 @@ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. + * + * 5/5/2015 Forked from https://developer.mbed.org/users/sam_grove/code/MMA845x/ + * + * 6/20/2015 TAB Added setup functions and polling data capability. Also added RTOS calls + * TODO Still need to add interrupt support for other Accelerometer mode support */ - -#include "MMA845x.h" - -MMA845x::MMA845x(I2C &i2c, InterruptIn &int1, InterruptIn &int2) { - _i2c = &i2c; - _int1 = &int1; - _int2 = &int2; - - _i2c_addr = (0x1c << 2) | (0 << 0x1); - - return; -} -void MMA845x::init(void) const { - uint8_t reg_val = 0; - - _i2c->frequency(400000); - - // Reset all registers to POR values - MMA845x::writeRegister(CTRL_REG2, 0xFF); //REG 0x2B - do{ - // wait for the reset bit to clear - reg_val = MMA845x::readRegister(CTRL_REG2) & 0x40; - }while(reg_val); - - // setup the registers that are common among modes - MMA845x::writeRegister(CTRL_REG1, 0xd8); //REG 0x2A - MMA845x::writeRegister(CTRL_REG2, 0x00); //REG 0x2B - MMA845x::writeRegister(CTRL_REG3, 0x00); //REG 0x2C - - MMA845x::writeRegister(XYZ_DATA_CFG, 0x0); //REG 0xE HPF / scale +/-2,4,8g - MMA845x::writeRegister(HP_FILTER_CUTOFF, 0x0); //REG 0xF HPF settings - - return; -} +#include "MMA845x.h" +#include "mbed_debug.h" +#include "rtos.h" +#include "MTSLog.h" -void MMA845x::enableDataReadyMode(void) const +MMA845x::MMA845x(I2C &i2c, SA0 const i2c_addr, InterruptIn* int1, InterruptIn* int2) { - MMA845x::init(); - MMA845x::writeRegister(SYSMOD, 0x1); //REG 0x0B - MMA845x::writeRegister(INT_SOURCE, 0x1); //REG 0x0C - // need to finish up these config registers..... 3/8/13 - -} + _i2c = &i2c; + _int1 = int1; + _int2 = int2; -void MMA845x::enableMotionMode(void) const{} -void MMA845x::enablePulseMode(void) const{} + _i2c_addr = (0x1c | i2c_addr) << 1; -void MMA845x::enableOrientationMode(void) const -{ - uint16_t who_am_i = MMA845x::readRegister(WHO_AM_I); - if(who_am_i != MMA8451) - { - error("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__); - } - + MMA845x::init(); + return; } -void MMA845x::enableTransitMode(void) const{} -void MMA845x::enableAutoSleepMode(void) const{} - -void MMA845x::enableFIFOMode(void) const +uint8_t MMA845x::init(void) { - uint16_t who_am_i = MMA845x::readRegister(WHO_AM_I); - if(who_am_i != MMA8451) - { - error("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__); + uint8_t result = 0; + uint8_t i = 0; + char reg_val[1]; + + _i2c->frequency(100000); + _who_am_i = 0x00; + + // Reset all registers to POR values + result = MMA845x::writeRegister(CTRL_REG2, 0xFF); //REG 0x2B + if (result == 0) { + + do { + // wait for the reset bit to clear. readRegister may error out so we re-try 10 times + osDelay(200); + reg_val[0] = 0x40; + result = MMA845x::readRegister(CTRL_REG2,1,reg_val); + reg_val[0] = reg_val[0] & 0x40; + i++; + } while(((reg_val[0] != 0)||( result != 0)) && (i<=10)); + } + + if (result == 0) { + result = MMA845x::readRegister(WHO_AM_I,1,reg_val); + } + + switch (reg_val[0]) { + case MMA8451: + case MMA8452: + case MMA8453: + _who_am_i= reg_val[0]; + if ((_int1 == NULL) && (_int2 == NULL)) + _polling_mode = true; + else _polling_mode = false; + break; + default: + debug ("Device not supported by this library!\n\r"); + result = 1; + } + + if(result != 0) { + debug("MMA845x:init failed\n\r"); } - - //MMA845x::writeRegister( - - return; + + + return result; +} + +uint8_t MMA845x::setCommonParameters(RANGE range, RESOLUTION resolution, LOW_NOISE lo_noise, + DATA_RATE data_rate, OVERSAMPLE_MODE os_mode, HPF_MODE hpf_mode) const +{ + uint8_t result = 0; + char datain[1]; + uint8_t dataout = 0; + + result |= MMA845x::readRegister(SYSMOD,1,datain); // Make sure MMA845x is in Stand-By mode + if ((datain[0] & 0x03) != 0 ) { + debug ("MMA845x not in STAND BY mode\n\f"); + debug("MMA845x:setCommonParameters failed\n\r"); + result = 1; + return result; + } + + result |= MMA845x::readRegister(CTRL_REG1, 1, datain); + dataout = (datain[0] & 0xB1) | resolution | lo_noise | data_rate; + result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set resolution, Low Noise mode, and data rate + + result |= MMA845x::readRegister(CTRL_REG2,1, datain); + dataout = (datain[0] & 0xFB) | os_mode; + result |= MMA845x::writeRegister(CTRL_REG2, dataout); // Set Oversample mode + + result |= MMA845x::readRegister(XYZ_DATA_CFG,1, datain); + dataout = range | hpf_mode; + result |= MMA845x::writeRegister(XYZ_DATA_CFG, dataout); //Set HPF mode and range + +// result |= MMA845x::readRegister(HP_FILTER_CUTOFF,1, datain); +// result |= MMA845x::writeRegister(HP_FILTER_CUTOFF, dataout); //REG 0xF HPF settings + + if(result != 0) { + debug("MMA845x:setParameters failed\n\r"); + } + + return result; + +} + +uint8_t MMA845x::enableMotionDetect(void) const +{ + uint8_t result = 0; + return result; +} + +uint8_t MMA845x::enablePulseDetect(void) const +{ + uint8_t result = 0; + return result; } -uint16_t MMA845x::getX(void) const +uint8_t MMA845x::enableOrientationDetect(void) const +{ + uint8_t result = 0; + + if(_who_am_i != MMA8451) { + debug("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__); + result = 1; + } + + return result; +} + +uint8_t MMA845x::enableTransientDetect(void) const +{ + uint8_t result = 0; + return result; +} + +uint8_t MMA845x::enableAutoSleep(void) const { - return _data._x; + uint8_t result = 0; + return result; +} + +uint8_t MMA845x::enableFIFO(void) const +{ + uint8_t result = 0; + + if(_who_am_i != MMA8451) { + debug("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__); + result = 1; + } + + return result; +} + +uint8_t MMA845x::activeMode(void) const +{ + uint8_t result = 0; + char datain[1]; + uint8_t dataout; + + result |= MMA845x::readRegister(CTRL_REG1,1, datain); + dataout = (datain[0] & 0xFE) | 0x01 ; + result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set to active mode + + return result; } - -uint16_t MMA845x::getY(void) const +uint8_t MMA845x::standbyMode(void) const +{ + uint8_t result = 0; + char datain[1]; + uint8_t dataout; + + result |= MMA845x::readRegister(CTRL_REG1,1, datain); + dataout = (datain[0] & 0xFE); + result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set to standby mode + + return result; +} + +uint8_t MMA845x::getStatus(void) const { + uint8_t result = 0; + char datain[1]; + uint8_t dataout; + + result = MMA845x::readRegister(STATUS,1, datain); + + if (result != 0) + dataout = result; + else + dataout = datain[0]; + + return dataout; +} + +int16_t MMA845x::getX(void) +{ + char datain[2]; + + if (_polling_mode) { + MMA845x::readRegister(OUT_X_MSB,2, datain); + _data._x = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */ + _data._x /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */ + } + return _data._x; + +} + +int16_t MMA845x::getY(void) +{ + char datain[2]; + + if (_polling_mode) { + MMA845x::readRegister(OUT_Y_MSB,2, datain); + _data._y = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */ + _data._y /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */ + } return _data._y; } -uint16_t MMA845x::getZ(void) const +int16_t MMA845x::getZ(void) { + char datain[2]; + + if (_polling_mode) { + MMA845x::readRegister(OUT_Z_MSB,2, datain); + _data._z = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */ + _data._z /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */ + } + return _data._z; } - -MMA845x_DATA MMA845x::getXYZ(void) const + +MMA845x_DATA MMA845x::getXYZ(void) { + char datain[6]; + + if (_polling_mode) { + MMA845x::readRegister(OUT_X_MSB,6, datain); /* data is 14 bit signed with 2 LSB = 0 */ + _data._x = ((datain[0] << 8) | datain[1]); /* need to shift first to preserve sign */ + _data._x /= 4; /* then /4 to remove LSBs */ + _data._y = ((datain[2] << 8) | datain[3]); + _data._y /= 4; + _data._z = ((datain[4] << 8) | datain[5]); + _data._z /= 4; + } else { + logInfo("NOT POLLING MODE\n\r"); + } + return _data; } -void MMA845x::writeRegister(uint8_t const reg, uint8_t const data) const +char MMA845x::getWhoAmI(void) const +{ + return _who_am_i; +} + +uint8_t MMA845x::writeRegister(uint8_t const reg, uint8_t const data) const { char buf[2] = {reg, data}; uint8_t result = 0; - - __disable_irq(); // Tickers and other timebase events can jack up the I2C bus for some deicse - result = _i2c->write(_i2c_addr, buf, 2); - __enable_irq(); // Just need to block during the transaction - - if(0 != result) - { - error("%s %d: I2c write failed\n", __FILE__, __LINE__); + + buf[0] = reg; + buf[1] = data; + + result |= _i2c->write(_i2c_addr, buf, 2); + + if(result != 0) { + debug("MMA845x:writeRegister failed r-%d\n\r",result); } - - return; + + return result; } -uint8_t MMA845x::readRegister(uint8_t const reg) const +uint8_t MMA845x::readRegister(uint8_t const reg, uint8_t count, char* data) const { - uint8_t result = 1, data = 0; - - __disable_irq(); // Tickers and other timebase events can jack up the I2C bus - _i2c->start(); - result &= _i2c->write(_i2c_addr); - result &= _i2c->write(reg); - // issue a repeated start... - _i2c->start(); - result &= _i2c->write(_i2c_addr | 0x01); - // read with nak - data = _i2c->read(0); - _i2c->stop(); - __enable_irq(); // Just need to block during the transaction - - if(1 != result) - { - error("%s %d: I2C read failed\n", __FILE__, __LINE__); + uint8_t result = 0; + char reg_out[1]; + + reg_out[0] = reg; + result |= _i2c->write(_i2c_addr,reg_out,1,true); + + if(result != 0) { + debug("MMA845x::readRegister failed write r- %d\n\r", result); + return result; } - - return data; -} + + result |= _i2c->read(_i2c_addr,data,count,false); -void MMA845x::registerDump(void) const -{ - uint8_t reg_val = 0; - - for(int i=0; i<0x80; i++) - { - reg_val = MMA845x::readRegister(i); - printf("Reg 0x%02x: 0x%02x \n", i, reg_val); + if(result != 0) { + debug("MMA845x::readRegister failed read r-%d\n\r",result); } - - return; + + return result; } -