Device driver for the Freescale MMA845x family of accelerometers.
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Diff: MMA845x.h
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MMA845x.h Fri Mar 29 21:51:11 2013 +0000 @@ -0,0 +1,221 @@ +/** + * @file MMA845x.h + * @brief Device driver - MMA845x 3-axis accelerometer IC + * @author sam grove + * @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 + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +#ifndef MMA845X_H +#define MMA845X_H + +#include "mbed.h" + +/** Using the Sparkfun SEN-10955 + * + * Example: + * @code + * #include "mbed.h" + * #include "MMA845x.h" + * + + * + * int main() + * { + + * } + * @endcode + */ + + +/** + * @class MMA845x_DATA + * @brief API abstraction for the MMA845x 3-axis accelerometer IC data + */ +class MMA845x_DATA +{ +public: + + volatile uint16_t _x; /*!< volatile data variable */ + volatile uint16_t _y; /*!< volatile data variable */ + volatile uint16_t _z; /*!< volatile data variable */ + + /** Create the MMA845x_DATA object initialized to the parameter (or 0 if none) + * @param x - the init value of _x + * @param y - the init value of _y + * @param x - the init value of _z + */ + MMA845x_DATA(uint16_t x = 0, uint16_t y = 0, uint16_t z = 0) : _x(x), _y(y), _z(z) {} + + /** Overloaded '=' operator to allow shorthand coding, assigning objects to one another + * @param rhs - an object of the same type to assign ourself the same values of + * @return this + */ + MMA845x_DATA &operator= (MMA845x_DATA const &rhs) + { + _x = rhs._x; + _y = rhs._y; + _z = rhs._z; + + return *this; + } + + /** Overloaded '=' operator to allow shorthand coding, assigning objects to one another + * @param val - Assign each data member (_x, _y, _z) this value + * @return this + */ + MMA845x_DATA &operator= (uint16_t const val) + { + _x = _y = _z = val; + + return *this; + } + + /** Overloaded '==' operator to allow shorthand coding, test objects to one another + * @param rhs - the object to compare against + * @return 1 if the data members are the same and 0 otherwise + */ + bool operator== (MMA845x_DATA const &rhs) const + { + return ((_x == rhs._x)&&(_y == rhs._y)&&(_z == rhs._z)) ? 1 : 0; + } + +}; + +/** + * @class MMA845x + * @brief API abstraction for the MMA845x 3-axis accelerometer IC + */ +class MMA845x +{ +public: + + /** + * @enum MMA845x_SA0 + * @brief Possible terminations for the ADDR pin + */ + enum MMA845x_SA0 + { + SA0_VSS = 0, /*!< SA0 connected to VSS */ + SA0_VDD /*!< SA0 connected to VDD */ + }; + + /** + * @enum MMA845x_WHO_AM_I + * @brief Device ID's that this class is compatible with + */ + enum MMA845x_WHO_AM_I + { + MMA8451 = 0x1a, /*!< MMA8451 WHO_AM_I register content */ + MMA8452 = 0x2a, /*!< MMA8452 WHO_AM_I register content */ + MMA8453 = 0x3a, /*!< MMA8453 WHO_AM_I register content */ + }; + + /** + * @enum MMA845x_REGISTER + * @brief The device register map + */ + enum MMA845x_REGISTER + { + STATUS = 0x0, + OUT_X_MSB, OUT_X_LSB, OUT_Y_MSB, OUT_Y_LSB, OUT_Z_MSB, OUT_Z_LSB, + + F_SETUP = 0x9, TRIG_CFG, // only available on the MMA8451 variant + + SYSMOD = 0xb, + INT_SOURCE, WHO_AM_I, XYZ_DATA_CFG, HP_FILTER_CUTOFF, PL_STATUS, + PL_CFG, PL_COUNT, PL_BF_ZCOMP, P_L_THS_REG, FF_MT_CFG, FF_MT_SRC, + FF_MT_THS, FF_MT_COUNT, + + TRANSIENT_CFG = 0x1d, + TRANSIENT_SRC, TRANSIENT_THS, TRANSIENT_COUNT, PULSE_CFG, PULSE_SRC, + PULSE_THSX, PULSE_THSY, PULSE_THSZ, PULSE_TMLT, PULSE_LTCY, PULSE_WIND, + ASLP_COUNT, CTRL_REG1, CTRL_REG2, CTRL_REG3, CTRL_REG4, CTRL_REG5, + OFF_X, OFF_Y, OFF_Z + }; + + /** Create the MMA845x object + * @param i2c - A defined I2C object + * @param int1 - A defined InterruptIn object + * @param int2 - A defined InterruptIn object + * @param i2c_addr - Connection of the address line + */ + MMA845x(I2C &i2c, InterruptIn &int1, InterruptIn &int2, MMA845x_SA0 const i2c_addr); + + /** Get the X data + * @return The last valid reading from the accelerometer + */ + uint16_t getX(void) const; + + /** Get the Y data + * @return The last valid reading from the accelerometer + */ + uint16_t getY(void) const; + + /** Get the Z data + * @return The last valid reading from the accelerometer + */ + uint16_t getZ(void) const; + + /** Get the XYZ data structure + * @return The last valid reading from the accelerometer + */ + MMA845x_DATA getXYZ(void) const; + + void enableDataReadyMode(void) const; + void enableMotionMode(void) const; + void enablePulseMode(void) const; + void enableOrientationMode(void) const; + void enableTransitMode(void) const; + void enableAutoSleepMode(void) const; + void enableFIFOMode(void) const; + + /** Put the MMA845x in the lowest possible power mode and suspend operation + */ + void disable(void); + + /** Write to a register (exposed for debugging reasons) + * Note: most writes are only valid in stop mode + * @param reg - The register to be written + * @param data - The data to be written + */ + void writeRegister(uint8_t const reg, uint8_t const data) const; + + /** Read from a register (exposed for debugging reasons) + * @param reg - The register to read from + * @return The register contents + */ + uint8_t readRegister(uint8_t const reg) const; + + /** print the register map and values to the console + */ + void registerDump(void) const; + +private: + + I2C *_i2c; + InterruptIn *_int1; + InterruptIn *_int2; + uint8_t _i2c_addr; + MMA845x_DATA _data; + + void init(void) const; +}; + +#endif